511 lines
10 KiB
Plaintext
511 lines
10 KiB
Plaintext
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-4-g7f85cfe Build Version: 1.6.7995.38578
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="d1_description">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="-0.00048697 -2.9605E-12 0.017142"
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rpy="0 0 0" />
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<mass
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value="0.077233" />
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<inertia
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ixx="0.00010316"
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ixy="-1.0285E-14"
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ixz="2.0449E-07"
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iyy="0.00011888"
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iyz="7.3026E-15"
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izz="0.00018362" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/base_link.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="Link1">
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<inertial>
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<origin
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xyz="0.0024649 0.00010517 0.032696"
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rpy="0 0 0" />
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<mass
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value="0.13174" />
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<inertia
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ixx="6.7236E-05"
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ixy="-5.5664E-08"
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ixz="7.0454E-08"
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iyy="5.416E-05"
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iyz="-3.5709E-07"
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izz="4.6637E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="Joint1"
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type="revolute">
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<origin
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xyz="0 0 0.0533"
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rpy="0 0 -3.1416" />
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<parent
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link="base_link" />
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<child
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link="Link1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.35"
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upper="2.35"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Link2">
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<inertial>
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<origin
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xyz="0.0002018 0.19201 -0.027007"
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rpy="0 0 0" />
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<mass
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value="0.20213" />
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<inertia
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ixx="0.00025682"
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ixy="-1.139E-07"
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ixz="5.5667E-08"
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iyy="6.3307E-05"
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iyz="-3.5717E-07"
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izz="0.00022968" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link2.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="stl/Link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="Joint2"
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type="revolute">
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<origin
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xyz="0 0.028 0.0563"
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rpy="1.5708 0 -3.1416" />
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<parent
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link="Link1" />
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<child
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link="Link2" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="-1.57"
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upper="1.57"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Link3">
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<inertial>
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<origin
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xyz="0.015164 0.044482 -0.027461"
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rpy="0 0 0" />
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<mass
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value="0.0629" />
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<inertia
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ixx="1.7232E-05"
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ixy="-2.6967E-06"
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ixz="-9.4911E-11"
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iyy="1.2606E-05"
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iyz="-9.9169E-11"
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izz="1.4964E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link3.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="Joint3"
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type="revolute">
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<origin
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xyz="0 0.2693 0.0009"
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rpy="0 0 0" />
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<parent
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link="Link2" />
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<child
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link="Link3" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="-1.57"
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upper="1.57"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Link4">
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<inertial>
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<origin
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xyz="-0.00029556 -0.00016104 0.091339"
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rpy="0 0 0" />
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<mass
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value="0.083332" />
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<inertia
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ixx="3.9308E-05"
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ixy="1.0126E-08"
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ixz="-9.4316E-08"
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iyy="3.4378E-05"
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iyz="-1.6915E-09"
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izz="1.1597E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link4.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="Joint4"
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type="revolute">
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<origin
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xyz="0.0577 0.042 -0.0275"
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rpy="-1.5708 0 -1.5708" />
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<parent
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link="Link3" />
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<child
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link="Link4" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.35"
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upper="2.35"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Link5">
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<inertial>
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<origin
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xyz="0.040573 0.0062891 -0.023838"
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rpy="0 0 0" />
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<mass
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value="0.053817" />
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<inertia
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ixx="1.3072E-05"
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ixy="-3.9511E-07"
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ixz="-3.1889E-10"
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iyy="8.6301E-06"
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iyz="-1.8416E-09"
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izz="1.1049E-05" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link5.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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||
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="../stl/Link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="Joint5"
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type="revolute">
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||
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<origin
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xyz="-0.0001 -0.0237 0.14018"
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rpy="1.5708 -1.5708 0" />
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||
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<parent
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||
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link="Link4" />
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||
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<child
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||
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link="Link5" />
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||
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<axis
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xyz="0 0 -1" />
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|
<limit
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lower="-1.57"
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upper="1.57"
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effort="0"
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velocity="0" />
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||
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</joint>
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||
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|
<link
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name="Link6">
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||
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<inertial>
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||
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|
<origin
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||
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xyz="-0.0068528 -3.9973E-06 0.039705"
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|
rpy="0 0 0" />
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||
|
|
<mass
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value="0.077892" />
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|
<inertia
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||
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|
ixx="3.8236E-05"
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|
ixy="1.3465E-08"
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|
ixz="-2.0614E-07"
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||
|
|
iyy="1.7707E-05"
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|
iyz="-6.7117E-10"
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||
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izz="4.8839E-05" />
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||
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</inertial>
|
||
|
|
<visual>
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||
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|
<origin
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||
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|
xyz="0 0 0"
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||
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rpy="0 0 0" />
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||
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<geometry>
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||
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<mesh
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||
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filename="../stl/Link6.STL" />
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||
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</geometry>
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||
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|
<material
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||
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name="">
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||
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<color
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rgba="1 1 1 1" />
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||
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|
</material>
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||
|
|
</visual>
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||
|
|
<collision>
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||
|
|
<origin
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||
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|
xyz="0 0 0"
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||
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rpy="0 0 0" />
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||
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|
<geometry>
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||
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<mesh
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||
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filename="../stl/Link6.STL" />
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||
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</geometry>
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||
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|
</collision>
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||
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|
</link>
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||
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|
<joint
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||
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name="Joint6"
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||
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|
type="revolute">
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||
|
|
<origin
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||
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|
xyz="0.0825 -0.0010782 -0.023822"
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||
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rpy="-1.5708 0 -1.5708" />
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||
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|
<parent
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||
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link="Link5" />
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||
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|
<child
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||
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link="Link6" />
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||
|
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<axis
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||
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xyz="0 0 -1" />
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||
|
|
<limit
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||
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lower="-2.35"
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upper="2.35"
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||
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effort="0"
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||
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velocity="0" />
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||
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</joint>
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||
|
|
<link
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||
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name="Link7_1">
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||
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|
<inertial>
|
||
|
|
<origin
|
||
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|
xyz="0.018927 0.006 0.012082"
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||
|
|
rpy="0 0 0" />
|
||
|
|
<mass
|
||
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|
value="0.015046" />
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||
|
|
<inertia
|
||
|
|
ixx="1.2692E-06"
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||
|
|
ixy="7.7441E-20"
|
||
|
|
ixz="-1.133E-07"
|
||
|
|
iyy="2.0229E-06"
|
||
|
|
iyz="1.2044E-20"
|
||
|
|
izz="2.6177E-06" />
|
||
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</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../stl/Link7_1.STL" />
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../stl/Link7_1.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="Joint7_1"
|
||
|
|
type="prismatic">
|
||
|
|
<origin
|
||
|
|
xyz="-0.0056012 -0.029636 0.0706"
|
||
|
|
rpy="-1.5714 -1.5708 0" />
|
||
|
|
<parent
|
||
|
|
link="Link6" />
|
||
|
|
<child
|
||
|
|
link="Link7_1" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 -1" />
|
||
|
|
<limit
|
||
|
|
lower="0"
|
||
|
|
upper="0.03"
|
||
|
|
effort="0"
|
||
|
|
velocity="0" />
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="Link7_2">
|
||
|
|
<inertial>
|
||
|
|
<origin
|
||
|
|
xyz="0.018927 -0.006 0.012082"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<mass
|
||
|
|
value="0.015046" />
|
||
|
|
<inertia
|
||
|
|
ixx="1.2692E-06"
|
||
|
|
ixy="-7.8273E-20"
|
||
|
|
ixz="-1.133E-07"
|
||
|
|
iyy="2.0229E-06"
|
||
|
|
iyz="-1.2122E-20"
|
||
|
|
izz="2.6177E-06" />
|
||
|
|
</inertial>
|
||
|
|
<visual>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../stl/Link7_2.STL" />
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="1 1 1 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="../stl/Link7_2.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="Joint7_2"
|
||
|
|
type="prismatic">
|
||
|
|
<origin
|
||
|
|
xyz="-0.0056388 0.02964 0.0706"
|
||
|
|
rpy="1.5702 -1.5708 0" />
|
||
|
|
<parent
|
||
|
|
link="Link6" />
|
||
|
|
<child
|
||
|
|
link="Link7_2" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-0.03"
|
||
|
|
upper="0"
|
||
|
|
effort="0"
|
||
|
|
velocity="0" />
|
||
|
|
</joint>
|
||
|
|
</robot>
|