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<job xmlns="http://lim.ii.udc.es/mbsml">
  <model id="Robot_PUMA_Model_MBsML">
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                      <Ixx>1.6120</Ixx>
                      <Iyy>0.5091</Iyy>
                      <Izz>1.6120</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
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          </geometry>
          <inertia>
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                      <Iyy>8.0783</Iyy>
                      <Izz>8.2672</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
      </body>
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          </geometry>
          <inertia>
              <standard>
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                  <centerOfMass id="centerOfMass">
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                      <Ixx>3.3768</Ixx>
                      <Iyy>0.3009</Iyy>
                      <Izz>3.3768</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
      </body>
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              <vector id="z">
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          </geometry>
          <inertia>
              <standard>
                  <mass uom="kg">1.052</mass>
                  <centerOfMass id="centerOfMass">
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                      <Iyy>0.1810</Iyy>
                      <Izz>0.1273</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
      </body>
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          </geometry>
          <inertia>
              <standard>
                  <mass uom="kg">1.052</mass>
                  <centerOfMass id="centerOfMass">
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                      <Iyy>0.0735</Iyy>
                      <Izz>0.1273</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
      </body>
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          </geometry>
          <inertia>
              <standard>
                  <mass uom="kg">0.351</mass>
                  <centerOfMass id="centerOfMass">
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                      <Ixx>0.0</Ixx>
                      <Iyy>0.0</Iyy>
                      <Izz>0.03725</Izz>
                  </inertiaTensor>                    
              </standard>
          </inertia>             
      </body>
      <joint.revolute id="ground_rod1">
          <body idref="ground">
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              <axisDir idref="z"/>
          </body>
          <body idref="rod1">
              <axisPoint idref="p2"/>
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          </body>
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          </body>
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              <axisDir idref="y"/>
          </body>
          <body idref="rod3">
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      <joint.revolute id="rod3_rod4">
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              <axisDir idref="z"/>
          </body>
          <body idref="rod4">
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      <joint.revolute id="rod4_rod5">
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              <axisDir idref="z"/>
          </body>
          <body idref="rod5">
              <axisPoint idref="p1"/>
              <axisDir idref="y"/>
          </body>
      </joint.revolute>
      <joint.revolute id="rod5_rod6">
          <body idref="rod5">
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              <axisDir idref="z"/>
          </body>
          <body idref="rod6">
              <axisPoint idref="p1"/>
              <axisDir idref="y"/>
          </body>
      </joint.revolute>
  </model>
  <task>
        <analysis>
        </analysis> 
    </task>
</job>
