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<?xml version="1.0"?> <robot name="singular_floating_base"> <link name="base"> <inertial> <origin xyz="0 0 0" rpy="0 0 0"/> <mass value="1"/> <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/> </inertial> </link> </robot>