2025-03-20 11:41:40 +08:00
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<robot name="dex3_1_l">
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2025-01-15 12:28:49 +08:00
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<mujoco>
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<compiler meshdir="meshes" discardvisual="false"/>
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</mujoco>
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<!-- [CAUTION] uncomment when convert to mujoco -->
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<!-- <link name="world"></link>
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<joint name="floating_base_joint" type="floating">
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<parent link="world"/>
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<child link="left_hand_palm_link"/>
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</joint> -->
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<link name="left_hand_palm_link">
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<inertial>
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<origin xyz="0.06214634836 -0.00050869656 -0.00058171093" rpy="0 0 0"/>
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<mass value="0.37283854"/>
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<inertia ixx="0.00027535181027" ixy="-0.00001595519465" ixz="-0.00000242161890" iyy="0.00053951827219" iyz="-0.00000042279435" izz="0.00039623390907"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_palm_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_palm_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_0_joint" type="revolute">
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<origin xyz="0.0255 0 0" rpy="0 0 0"/>
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<axis xyz="0 1 0"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_thumb_0_link"/>
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2025-03-12 15:19:52 +08:00
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<limit effort="2.45" velocity="3.14" lower="-1.04719755" upper="1.04719755"/>
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2025-01-15 12:28:49 +08:00
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</joint>
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<link name="left_hand_thumb_0_link">
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<inertial>
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<origin xyz="-0.00088424580 -0.00863407079 0.00094429336" rpy="0 0 0"/>
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<mass value="0.08623657"/>
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<inertia ixx="0.00001602919238" ixy="0.00000010683177" ixz="0.00000016728875" iyy="0.00001451795012" iyz="-0.00000051094752" izz="0.00001637877663"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_thumb_0_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_1_joint" type="revolute">
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<origin xyz="-0.0025 -0.0193 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_thumb_0_link"/>
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<child link="left_hand_thumb_1_link"/>
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<limit effort="1.4" velocity="12" lower="-0.72431163" upper="1.04719755"/>
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</joint>
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<link name="left_hand_thumb_1_link">
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<inertial>
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<origin xyz="-0.00082788768 -0.03547435774 -0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00001274699945" ixy="-0.00000050770784" ixz="0.00000016088850" iyy="0.00000601573947" iyz="-0.00000027839003" izz="0.00001234543582"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_thumb_1_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="-0.001 -0.032 0" rpy="0 0 0"/>
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<geometry>
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<box size="0.02 0.03 0.02"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_thumb_2_joint" type="revolute">
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<origin xyz="0 -0.0458 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_thumb_1_link"/>
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<child link="left_hand_thumb_2_link"/>
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<limit effort="1.4" velocity="12" lower="0" upper="1.74532925"/>
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</joint>
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<link name="left_hand_thumb_2_link">
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<inertial>
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<origin xyz="-0.00171735242 -0.02628192939 0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000461267817" ixy="-0.00000003422130" ixz="-0.00000000823881" iyy="0.00000153561368" iyz="-0.00000002549885" izz="0.00000386625776"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_thumb_2_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_middle_0_joint" type="revolute">
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<origin xyz="0.0777 0.0016 -0.0285" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_middle_0_link"/>
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<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
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</joint>
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<link name="left_hand_middle_0_link">
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<inertial>
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<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_middle_0_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_middle_0_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_middle_1_joint" type="revolute">
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<origin xyz="0.0458 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_middle_0_link"/>
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<child link="left_hand_middle_1_link"/>
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<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
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</joint>
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<link name="left_hand_middle_1_link">
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<inertial>
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<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_middle_1_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_middle_1_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_index_0_joint" type="revolute">
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<origin xyz="0.0777 0.0016 0.0285" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_palm_link"/>
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<child link="left_hand_index_0_link"/>
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<limit effort="1.4" velocity="12" lower="-1.57079632" upper="0"/>
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</joint>
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<link name="left_hand_index_0_link">
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<inertial>
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<origin xyz="0.03547435774 0.00082788768 0.00038089960" rpy="0 0 0"/>
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<mass value="0.05885070"/>
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<inertia ixx="0.00000601573947" ixy="-0.00000050770784" ixz="-0.00000027839003" iyy="0.00001274699945" iyz="0.00000016088850" izz="0.00001234543582"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_index_0_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_index_0_link.STL"/>
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</geometry>
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</collision>
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</link>
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<joint name="left_hand_index_1_joint" type="revolute">
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<origin xyz="0.0458 0 0" rpy="0 0 0"/>
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<axis xyz="0 0 1"/>
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<parent link="left_hand_index_0_link"/>
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<child link="left_hand_index_1_link"/>
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<limit effort="1.4" velocity="12" lower="-1.74532925" upper="0"/>
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</joint>
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<link name="left_hand_index_1_link">
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<inertial>
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<origin xyz="0.02628192939 0.00171735242 -0.00010778879" rpy="0 0 0"/>
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<mass value="0.02030626"/>
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<inertia ixx="0.00000153561368" ixy="-0.00000003422130" ixz="-0.00000002549885" iyy="0.00000461267817" iyz="-0.00000000823881" izz="0.00000386625776"/>
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_index_1_link.STL"/>
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</geometry>
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<material name="white">
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<color rgba="0.7 0.7 0.7 1"/>
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<mesh filename="meshes/left_hand_index_1_link.STL"/>
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</geometry>
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</collision>
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</link>
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</robot>
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