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initial version

After changing the

   <inertial>
      <origin xyz="0.137802209307 0.090396 0.0227196811405" rpy="0 0 0"/>
      <mass value="0.0"/>
      <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>

part, giving random values to mass and inertia, the problem is gone.