415 lines
10 KiB
Plaintext
415 lines
10 KiB
Plaintext
|
<?xml version="1.0" encoding="utf-8"?>
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<robot
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name="aubo_WJ2">
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<dh_type type="modified"/>
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<safety_para singularity_consistent="0.02 0.01 10 0.2 0.045 10"/>
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<friction_coeff value="0.65"/>
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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="0.041838 0.035017 0.034665"
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rpy="0 0 0" />
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value="1.96" />
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ixx="0.005735"
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ixy="-0.003523"
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ixz="0.000365"
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iyy="0.007461"
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iyz="0.000043"
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izz="0.0105366" />
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</inertial>
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<visual>
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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="package://aubo_description/meshes/aubo_WJ2/visual/link0.DAE" />
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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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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="package://aubo_description/meshes/aubo_WJ2/collision/link0.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="shoulder_Link">
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<inertial>
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xyz="0.105215 0.013064 -0.012559"
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ixx="0.007089"
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ixy="-0.004703"
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iyy="0.039662"
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</inertial>
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<visual>
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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="package://aubo_description/meshes/aubo_WJ2/visual/link1.DAE" />
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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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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="package://aubo_description/meshes/aubo_WJ2/collision/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="shoulder_joint"
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type="revolute">
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<origin
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xyz="0 0 0.153"
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rpy="0 0 1.5707963267948966192313216916398" />
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<parent
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link="base_link" />
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<child
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link="shoulder_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.35619445"
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upper="2.35619445"
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effort="49"
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start_stop="82"
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velocity="3.1415926535897932384626433832795" />
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<property inertia="0.3345928" damping="0" stiffness="0" offset="0" motor_constant="4.425" ratio="101"/>
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</joint>
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<link
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name="upperArm_Link">
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<inertial>
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<origin
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xyz="-0.000251 -0.375875 -0.104654"
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rpy="0 0 0" />
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<mass
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value="2.12" />
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<inertia
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ixx="0.086707"
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ixy="-0.000084"
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ixz="0.00004"
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iyy="0.003395"
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iyz="0.00215"
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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="package://aubo_description/meshes/aubo_WJ2/visual/link2.DAE" />
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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="package://aubo_description/meshes/aubo_WJ2/collision/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="upperArm_joint"
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type="revolute">
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<origin
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xyz="-0.208 0 0"
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rpy="1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent
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link="shoulder_Link" />
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<child
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link="upperArm_Link" />
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<axis
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xyz="0 0 1" />
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lower="-1.5707963267948966192313216916398"
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upper="1.5707963267948966192313216916398"
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effort="133"
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velocity="3.1415926535897932384626433832795" />
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<property inertia="0.328" damping="0" stiffness="0" offset="0" motor_constant="4.425" ratio="100"/>
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</joint>
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<link
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name="foreArm_Link">
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<inertial>
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<origin
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xyz="-0.000127 -0.019405 -0.000684"
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rpy="0 0 0" />
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<mass
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value="0.947" />
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ixx="0.00156"
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ixy="0.00006"
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ixz="0.000000"
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iyy="0.000659"
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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="package://aubo_description/meshes/aubo_WJ2/visual/link3.DAE" />
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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="package://aubo_description/meshes/aubo_WJ2/collision/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="foreArm_joint"
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type="revolute">
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<origin
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xyz="0.519 0 0.01764"
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rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
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<parent
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link="upperArm_Link" />
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<child
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link="foreArm_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.05432613888889"
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upper="3.05432613888889"
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effort="133"
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start_stop="54"
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velocity="4.188790133" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="0" ratio="100"/>
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</joint>
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<link
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name="wrist1_Link">
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<inertial>
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<origin
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xyz="0.000183 -0.013175 -0.090828"
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ixx="0.033939"
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<visual>
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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="package://aubo_description/meshes/aubo_WJ2/visual/link4.DAE" />
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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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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="package://aubo_description/meshes/aubo_WJ2/collision/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="wrist1_joint"
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type="revolute">
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xyz="0 -0.522 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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link="foreArm_Link" />
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<child
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link="wrist1_Link" />
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xyz="0 0 1" />
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="13.5"
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start_stop="17"
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velocity="4.188790133" />
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<property inertia="0.115" damping="0" stiffness="0" offset="0" motor_constant="4.59" ratio="100"/>
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</joint>
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<link
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name="wrist2_Link">
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<inertial>
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<origin
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xyz="-0.000223 0.019116 -0.000591"
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rpy="0 0 0" />
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value="0.955" />
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ixx="0.001221"
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iyy="0.000664"
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<visual>
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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="package://aubo_description/meshes/aubo_WJ2/visual/link5.DAE" />
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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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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="package://aubo_description/meshes/aubo_WJ2/collision/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="wrist2_joint"
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type="revolute">
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<origin
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xyz="0 -0.09481 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="wrist1_Link" />
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<child
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link="wrist2_Link" />
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xyz="0 0 1" />
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lower="-6.283185307179586476925286766559"
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upper="6.283185307179586476925286766559"
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effort="13.5"
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start_stop="17"
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velocity="4.188790133" />
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<property inertia="0.067" damping="0" stiffness="0" offset="0" motor_constant="3.59" ratio="100"/>
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</joint>
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<link
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name="wrist3_Link">
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<inertial>
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<origin
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xyz="-0.000031 -0.000185 -0.018548"
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rpy="0 0 0" />
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value="0.173" />
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<inertia
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ixx="0.000108"
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ixy="-0.0000000"
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ixz="0.0000001"
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iyy="0.000108"
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iyz="0.0000000"
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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="package://aubo_description/meshes/aubo_WJ2/visual/link6.DAE" />
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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="0.792156862745098 0.819607843137255 0.933333333333333 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="package://aubo_description/meshes/aubo_WJ2/collision/link6.STL" />
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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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<joint
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|
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name="wrist3_joint"
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|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0.0967 0"
|
||
|
|
rpy="-1.5707963267948966192313216916398 0 0" />
|
||
|
|
<parent
|
||
|
|
link="wrist2_Link" />
|
||
|
|
<child
|
||
|
|
link="wrist3_Link" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-6.283185307179586476925286766559"
|
||
|
|
upper="6.283185307179586476925286766559"
|
||
|
|
effort="13.5"
|
||
|
|
start_stop="17"
|
||
|
|
velocity="4.188790133" />
|
||
|
|
<property inertia="0.067" damping="0" stiffness="0" offset="0" motor_constant="3.59" ratio="100"/>
|
||
|
|
</joint>
|
||
|
|
<link name="world" />
|
||
|
|
|
||
|
|
<joint name="world_joint" type="fixed">
|
||
|
|
<parent link="world" />
|
||
|
|
<child link = "base_link" />
|
||
|
|
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
|
||
|
|
</joint>
|
||
|
|
</robot>
|