242 lines
8.4 KiB
Plaintext
242 lines
8.4 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i10_30">
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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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<link name="base_link">
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<inertial>
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<origin xyz="0.000136 0.001601 0.018986" rpy="0 0 0" />
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<mass value="2.592000" />
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<inertia ixx="0.008524" ixy="-0.000001" ixz="-0.000005" iyy="0.007934" iyz="-0.000081" izz="0.015304" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link0.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i10_30/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="-0.000004 0.005112 -0.026275" rpy="0 0 0" />
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<mass value="10.180139" />
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<inertia ixx="0.043326" ixy="0.000003" ixz="0.000003" iyy="0.042233" iyz="-0.001767" izz="0.029902" />
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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
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filename="package://aubo_description/meshes/aubo_i10_30/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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="package://aubo_description/meshes/aubo_i10_30/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.1632" rpy="-8.7138E-17 -4.3534E-32 3.1415926535897932384626433832795" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.231117 -0.000013 -0.022852" rpy="0 0 0" />
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<mass value="18.096361" />
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<inertia ixx="0.064904" ixy="0.000030" ixz="-0.033711" iyy="1.524623" iyz="0.000015" izz="1.505664" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 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="package://aubo_description/meshes/aubo_i10_30/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.2013 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.419560 -0.000019 0.118053" rpy="0 0 0" />
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<mass value="4.448092" />
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<inertia ixx="0.006799" ixy="0.000016" ixz="0.004004" iyy="0.246194" iyz="0.000005" izz="0.244790" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link3.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i10_30/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="foreArm_joint" type="revolute">
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<origin xyz="0.647 0 0" rpy="-3.1415926535897932384626433832795 -4.5954E-17 -8.4328E-17" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="207" velocity="2.5656" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000047 0.009773 -0.005726" rpy="0 0 0" />
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<mass value="1.791660" />
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<inertia ixx="0.002457" ixy="0.000004" ixz="0.000001" iyy="0.001590" iyz="-0.000123" izz="0.002183" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link4.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i10_30/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.6005 0 0" rpy="3.1415926535897932384626433832795 -1.4294E-15 1.5707963267948966192313216916398" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" ratio="101"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.000038 -0.011278 -0.001539" rpy="0 0 0" />
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<mass value="1.791660" />
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<inertia ixx="0.001951" ixy="0.000003" ixz="-0.000001" iyy="0.001154" iyz="0.000042" izz="0.001931" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link5.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i10_30/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.1025 0" rpy="-1.5707963267948966192313216916398 -7.0777E-16 -7.4101E-16" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="0.000022 0.000600 -0.017081" rpy="0 0 0" />
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<mass value="0.197800" />
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<inertia ixx="0.000118" ixy="-0.000000" ixz="-0.000000" iyy="0.000112" iyz="0.000001" izz="0.000184" />
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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="package://aubo_description/meshes/aubo_i10_30/visual/link6.3ds" />
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</geometry>
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<material name="">
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<color 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 xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_i10_30/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.094 0" rpy="1.5707963267948966192313216916398 0 6.7283E-16" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="world" />
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<joint name="world_joint" type="fixed">
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<parent link="world" />
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<child link = "base_link" />
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<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
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</joint>
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</robot>
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