drone_sus/drone_sus.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from model_impactor.urdf.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="flexible_cable">
  <!-- <properties arm="0.08" drag_coeff_xy="6.0e-7" drag_coeff_z="6.8e-7" dw_coeff_1="2267.18" dw_coeff_2=".16" dw_coeff_3="-.11" gnd_eff_coeff="11.36859" kf="3.16e-10" km="7.94e-12" max_speed_kmh="30" prop_radius="2.31348e-2" thrust2weight="2"/> -->
  <properties arm="0.08" kf="3.16e-10" km="7.94e-12" thrust2weight="2.25" max_speed_kmh="30" gnd_eff_coeff="11.36859" prop_radius="2.31348e-2" drag_coeff_xy="9.1785e-3" drag_coeff_z="10.311e-3" dw_coeff_1="276700.18" dw_coeff_2=".16" dw_coeff_3="-.11" />
  <material name="blue">
    <color rgba="0 0 0.8 1"/>
  </material>
  <material name="gray">
    <color rgba="0.5 0.5 0.5 1"/>
  </material>
  <!-- World link (invisible) -->
  <link name="world"/>
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.3"/>
      <inertia ixx="5.6e-4" ixy="0.0" ixz="0.0" iyy="5.6e-4" iyz="0.0" izz="8.6e-4"/>
    </inertial>
    <!-- links>
      <carlos url="https://arxiv.org/pdf/1608.05786.pdf" />
      <julian url="https://www.research-collection.ethz.ch/handle/20.500.11850/214143" />
      <mit url="http://groups.csail.mit.edu/robotics-center/public_papers/Landry15.pdf" />
    </links -->
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="./body.obj" scale="2.015 2.015 2.015"/>
      </geometry>
      <material name="grey">
        <color rgba=".5 .5 .5 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size=".16 .16 .05"/>
      </geometry>
    </collision>
  </link>
  <!-- Fixed joint to connect base_link to world -->
  <joint name="fixed_to_world" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <link name="prop0_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.08 -0.08 0"/>
      <mass value="0.00001"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.08 -0.08 0.0175"/>
      <geometry>
        <mesh filename="./propeller0.obj" scale="2.015 2.015 2.015"/>
      </geometry>
    </visual>
  </link>
  <joint name="prop0_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop0_link"/>
  </joint>
  <link name="prop1_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.08 -0.08 0"/>
      <mass value="0.00001"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.08 -0.08 0.0175"/>
      <geometry>
        <mesh filename="./propeller1.obj" scale="2.015 2.015 2.015"/>
      </geometry>
    </visual>
  </link>
  <joint name="prop1_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop1_link"/>
  </joint>
  <link name="prop2_link">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.08 0.08 0"/>
      <mass value="0.00001"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.08 0.08 0.0175"/>
      <geometry>
        <mesh filename="./propeller2.obj" scale="2.015 2.015 2.015"/>
      </geometry>
    </visual>
  </link>
  <joint name="prop2_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop2_link"/>
  </joint>
  <link name="prop3_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.08 0.08 0"/>
      <mass value="0.00001"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0.08 0.08 0.0175"/>
      <geometry>
        <mesh filename="./propeller3.obj" scale="2.015 2.015 2.015"/>
      </geometry>
    </visual>
  </link>
  <joint name="prop3_joint" type="fixed">
    <parent link="base_link"/>
    <child link="prop3_link"/>
  </joint>
  <link name="center_of_mass_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.00001"/>
      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
    </inertial>
  </link>
  <joint name="center_of_mass_joint" type="fixed">
    <parent link="base_link"/>
    <child link="center_of_mass_link"/>
  </joint>

  <gazebo reference="base_link">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_1_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <!-- <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision> -->
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="center_of_mass_link_to_segment_1_sphere" type="revolute">
    <parent link="center_of_mass_link"/>
    <child link="segment_1_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_1_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <!-- <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision> -->
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_1_sphere_to_cylinder" type="revolute">
    <parent link="segment_1_sphere"/>
    <child link="segment_1_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_1_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_1_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_2_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_1_cylinder_to_segment_2_sphere" type="revolute">
    <parent link="segment_1_cylinder"/>
    <child link="segment_2_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_2_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_2_sphere_to_cylinder" type="revolute">
    <parent link="segment_2_sphere"/>
    <child link="segment_2_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_2_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_2_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_3_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_2_cylinder_to_segment_3_sphere" type="revolute">
    <parent link="segment_2_cylinder"/>
    <child link="segment_3_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_3_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_3_sphere_to_cylinder" type="revolute">
    <parent link="segment_3_sphere"/>
    <child link="segment_3_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_3_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_3_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_4_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_3_cylinder_to_segment_4_sphere" type="revolute">
    <parent link="segment_3_cylinder"/>
    <child link="segment_4_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_4_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_4_sphere_to_cylinder" type="revolute">
    <parent link="segment_4_sphere"/>
    <child link="segment_4_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_4_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_4_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_5_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_4_cylinder_to_segment_5_sphere" type="revolute">
    <parent link="segment_4_cylinder"/>
    <child link="segment_5_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_5_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_5_sphere_to_cylinder" type="revolute">
    <parent link="segment_5_sphere"/>
    <child link="segment_5_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_5_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_5_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_6_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_5_cylinder_to_segment_6_sphere" type="revolute">
    <parent link="segment_5_cylinder"/>
    <child link="segment_6_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_6_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_6_sphere_to_cylinder" type="revolute">
    <parent link="segment_6_sphere"/>
    <child link="segment_6_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_6_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_6_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_7_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_6_cylinder_to_segment_7_sphere" type="revolute">
    <parent link="segment_6_cylinder"/>
    <child link="segment_7_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_7_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_7_sphere_to_cylinder" type="revolute">
    <parent link="segment_7_sphere"/>
    <child link="segment_7_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_7_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_7_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_8_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_7_cylinder_to_segment_8_sphere" type="revolute">
    <parent link="segment_7_cylinder"/>
    <child link="segment_8_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_8_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_8_sphere_to_cylinder" type="revolute">
    <parent link="segment_8_sphere"/>
    <child link="segment_8_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_8_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_8_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_9_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_8_cylinder_to_segment_9_sphere" type="revolute">
    <parent link="segment_8_cylinder"/>
    <child link="segment_9_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_9_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_9_sphere_to_cylinder" type="revolute">
    <parent link="segment_9_sphere"/>
    <child link="segment_9_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_9_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_9_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_10_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_9_cylinder_to_segment_10_sphere" type="revolute">
    <parent link="segment_9_cylinder"/>
    <child link="segment_10_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_10_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_10_sphere_to_cylinder" type="revolute">
    <parent link="segment_10_sphere"/>
    <child link="segment_10_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_10_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_10_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_11_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_10_cylinder_to_segment_11_sphere" type="revolute">
    <parent link="segment_10_cylinder"/>
    <child link="segment_11_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_11_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_11_sphere_to_cylinder" type="revolute">
    <parent link="segment_11_sphere"/>
    <child link="segment_11_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_11_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_11_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_12_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_11_cylinder_to_segment_12_sphere" type="revolute">
    <parent link="segment_11_cylinder"/>
    <child link="segment_12_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_12_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_12_sphere_to_cylinder" type="revolute">
    <parent link="segment_12_sphere"/>
    <child link="segment_12_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_12_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_12_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_13_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_12_cylinder_to_segment_13_sphere" type="revolute">
    <parent link="segment_12_cylinder"/>
    <child link="segment_13_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_13_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_13_sphere_to_cylinder" type="revolute">
    <parent link="segment_13_sphere"/>
    <child link="segment_13_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_13_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_13_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_14_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_13_cylinder_to_segment_14_sphere" type="revolute">
    <parent link="segment_13_cylinder"/>
    <child link="segment_14_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_14_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_14_sphere_to_cylinder" type="revolute">
    <parent link="segment_14_sphere"/>
    <child link="segment_14_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_14_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_14_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_15_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_14_cylinder_to_segment_15_sphere" type="revolute">
    <parent link="segment_14_cylinder"/>
    <child link="segment_15_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_15_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_15_sphere_to_cylinder" type="revolute">
    <parent link="segment_15_sphere"/>
    <child link="segment_15_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_15_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_15_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_16_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_15_cylinder_to_segment_16_sphere" type="revolute">
    <parent link="segment_15_cylinder"/>
    <child link="segment_16_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_16_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_16_sphere_to_cylinder" type="revolute">
    <parent link="segment_16_sphere"/>
    <child link="segment_16_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_16_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_16_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_17_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_16_cylinder_to_segment_17_sphere" type="revolute">
    <parent link="segment_16_cylinder"/>
    <child link="segment_17_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_17_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_17_sphere_to_cylinder" type="revolute">
    <parent link="segment_17_sphere"/>
    <child link="segment_17_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_17_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_17_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_18_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_17_cylinder_to_segment_18_sphere" type="revolute">
    <parent link="segment_17_cylinder"/>
    <child link="segment_18_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_18_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_18_sphere_to_cylinder" type="revolute">
    <parent link="segment_18_sphere"/>
    <child link="segment_18_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_18_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_18_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_19_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_18_cylinder_to_segment_19_sphere" type="revolute">
    <parent link="segment_18_cylinder"/>
    <child link="segment_19_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_19_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_19_sphere_to_cylinder" type="revolute">
    <parent link="segment_19_sphere"/>
    <child link="segment_19_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_19_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_19_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_20_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_19_cylinder_to_segment_20_sphere" type="revolute">
    <parent link="segment_19_cylinder"/>
    <child link="segment_20_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_20_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_20_sphere_to_cylinder" type="revolute">
    <parent link="segment_20_sphere"/>
    <child link="segment_20_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_20_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_20_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_21_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_20_cylinder_to_segment_21_sphere" type="revolute">
    <parent link="segment_20_cylinder"/>
    <child link="segment_21_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_21_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_21_sphere_to_cylinder" type="revolute">
    <parent link="segment_21_sphere"/>
    <child link="segment_21_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_21_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_21_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_22_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_21_cylinder_to_segment_22_sphere" type="revolute">
    <parent link="segment_21_cylinder"/>
    <child link="segment_22_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_22_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_22_sphere_to_cylinder" type="revolute">
    <parent link="segment_22_sphere"/>
    <child link="segment_22_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_22_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_22_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_23_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_22_cylinder_to_segment_23_sphere" type="revolute">
    <parent link="segment_22_cylinder"/>
    <child link="segment_23_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_23_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_23_sphere_to_cylinder" type="revolute">
    <parent link="segment_23_sphere"/>
    <child link="segment_23_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_23_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_23_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_24_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_23_cylinder_to_segment_24_sphere" type="revolute">
    <parent link="segment_23_cylinder"/>
    <child link="segment_24_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_24_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_24_sphere_to_cylinder" type="revolute">
    <parent link="segment_24_sphere"/>
    <child link="segment_24_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_24_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_24_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_25_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_24_cylinder_to_segment_25_sphere" type="revolute">
    <parent link="segment_24_cylinder"/>
    <child link="segment_25_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_25_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_25_sphere_to_cylinder" type="revolute">
    <parent link="segment_25_sphere"/>
    <child link="segment_25_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_25_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_25_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_26_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_25_cylinder_to_segment_26_sphere" type="revolute">
    <parent link="segment_25_cylinder"/>
    <child link="segment_26_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_26_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_26_sphere_to_cylinder" type="revolute">
    <parent link="segment_26_sphere"/>
    <child link="segment_26_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_26_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_26_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_27_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_26_cylinder_to_segment_27_sphere" type="revolute">
    <parent link="segment_26_cylinder"/>
    <child link="segment_27_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_27_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_27_sphere_to_cylinder" type="revolute">
    <parent link="segment_27_sphere"/>
    <child link="segment_27_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_27_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_27_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_28_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_27_cylinder_to_segment_28_sphere" type="revolute">
    <parent link="segment_27_cylinder"/>
    <child link="segment_28_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_28_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_28_sphere_to_cylinder" type="revolute">
    <parent link="segment_28_sphere"/>
    <child link="segment_28_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_28_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_28_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_29_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_28_cylinder_to_segment_29_sphere" type="revolute">
    <parent link="segment_28_cylinder"/>
    <child link="segment_29_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_29_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_29_sphere_to_cylinder" type="revolute">
    <parent link="segment_29_sphere"/>
    <child link="segment_29_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_29_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_29_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_30_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_29_cylinder_to_segment_30_sphere" type="revolute">
    <parent link="segment_29_cylinder"/>
    <child link="segment_30_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_30_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_30_sphere_to_cylinder" type="revolute">
    <parent link="segment_30_sphere"/>
    <child link="segment_30_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_30_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_30_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <!-- Spherical joint -->
  <link name="segment_31_sphere">
    <visual>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.0025"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1e-06"/>
      <inertia ixx="1e-12" ixy="0" ixz="0" iyy="1e-12" iyz="0" izz="1e-12"/>
    </inertial>
  </link>
  <joint name="segment_30_cylinder_to_segment_31_sphere" type="revolute">
    <parent link="segment_30_cylinder"/>
    <child link="segment_31_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Cylinder segment -->
  <link name="segment_31_cylinder">
    <visual>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
      <material name="blue"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.01" radius="0.0025"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </collision>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="2.5e-09" ixy="0" ixz="0" iyy="2.5e-09" iyz="0" izz="1.25e-09"/>
      <origin rpy="0 0 0" xyz="0 0 -0.0075"/>
    </inertial>
  </link>
  <joint name="segment_31_sphere_to_cylinder" type="revolute">
    <parent link="segment_31_sphere"/>
    <child link="segment_31_cylinder"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <axis xyz="1 0 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <!-- Enable self-collision for this segment -->
  <gazebo reference="segment_31_sphere">
    <material>Gazebo/Gray</material>
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="segment_31_cylinder">
    <material>Gazebo/Blue</material>
    <selfCollide>true</selfCollide>
  </gazebo>

  <!-- add one sphere at the end -->
  <link name="end_sphere">
    <visual>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
      <material name="gray"/>
    </visual>
    <collision>
      <geometry>
        <sphere radius="0.01"/>
      </geometry>
    </collision>
    <inertial>
      <!-- <mass value="0.117"/> -->
      <mass value="0.068"/>
      <inertia ixx="0.00017655" ixy="0" ixz="0" iyy="0.00017655" iyz="0" izz="0.00017655"/>
    </inertial>
  </link>
  <joint name="joint_end_sphere" type="revolute">
    <parent link="segment_31_cylinder"/>
    <child link="end_sphere"/>
    <origin rpy="0 0 0" xyz="0 0 -0.015"/>
    <axis xyz="0 1 0"/>
    <limit effort="10" lower="-3.14" upper="3.14" velocity="3"/>
    <dynamics damping="0.001" friction="0.0"/>
  </joint>
  <gazebo>
    <plugin filename="libcable_vel_control_plugin.so" name="cable_vel_control_plugin">
      <!-- <ros_topic>/target_position</ros_topic> -->
      <link_name>end_sphere</link_name>
    </plugin>
    <self_collide>true</self_collide>
    <!-- <static>true</static> -->
  </gazebo>
</robot>