229 lines
8.7 KiB
Plaintext
229 lines
8.7 KiB
Plaintext
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<?xml version="1.0"?>
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<robot name="aubo_i5-BH6W">
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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 name="base_link">
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<inertial>
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<origin xyz="0.000129 0.001249 0.016678" rpy="0 0 0" />
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<mass value="1.53902" />
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<inertia ixx="0.003278" ixy="-0.000001" ixz="-0.000001" iyy="0.003017" iyz="-0.000048" izz="0.005841" />
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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_i5-BH6W/visual/link0.DAE" />
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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_i5-BH6W/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="0.00002 0.0019 -0.01336" rpy="0 0 0" />
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<mass value="4.77751" />
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<inertia ixx="0.01123" ixy="0" ixz="-0.00001" iyy="0.01119" iyz="-0.00013" izz="0.00789" />
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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_i5-BH6W/visual/link1.DAE" />
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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_i5-BH6W/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 0.122" rpy="0 0 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121" protect_max_torque="80.0" equa_inertia="1.5" />
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.2040 0 0.007" rpy="0 0 0" />
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<mass value="10.63494" />
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<inertia ixx="0.02463" ixy="-0.00004" ixz="0" iyy="0.42425" iyz="0" izz="0.41741" />
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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_i5-BH6W/visual/link2.DAE" />
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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_i5-BH6W/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 0.1215 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121" protect_max_torque="80.0" equa_inertia="1.5" />
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.2675 0 0.0942" rpy="0 0 0" />
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<mass value="2.72848" />
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<inertia ixx="0.00332" ixy="0" ixz="0.00039" iyy="0.0608" iyz="0" izz="0.06027" />
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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_i5-BH6W/visual/link3.DAE" />
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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_i5-BH6W/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="0.408 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="133" start_stop="207" velocity="2.5964" />
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<property inertia="2.0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121" protect_max_torque="60.0" equa_inertia="1.2" />
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.00001 0.01095 -0.0015" rpy="0 0 0" />
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<mass value="1.57605" />
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<inertia ixx="0.00178" ixy="0" ixz="0" iyy="0.0011" iyz="-0.00003" izz="0.00175" />
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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_i5-BH6W/visual/link4.DAE" />
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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_i5-BH6W/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="0.376 0 0" rpy="3.1415926535897932384626433832795 0 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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101" protect_max_torque="16.0" equa_inertia="0.05" />
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.00001 -0.01095 -0.0015" rpy="0 0 0" />
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<mass value="1.57605" />
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<inertia ixx="0.00178" ixy="0" ixz="0" iyy="0.0011" iyz="0.00003" izz="0.00175" />
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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_i5-BH6W/visual/link5.DAE" />
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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_i5-BH6W/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 0 0" />
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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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101" protect_max_torque="16.0" equa_inertia="0.05" />
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="-0.000244 0.002074 -0.026592" rpy="0 0 0" />
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<mass value="0.443496" />
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<inertia ixx="0.000272" ixy="-0.000003" ixz="-0.000002" iyy="0.00029" iyz="0.000013" izz="0.000357" />
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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_i5-BH6W/visual/link6.DAE" />
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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_i5-BH6W/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 -0.116 0" rpy="1.5707963267948966192313216916398 0 0" />
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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="-3.054326190990076759616458844855" upper="3.054326190990076759616458844855" effort="13.5" start_stop="34" velocity="3.1105" />
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<property inertia="0.15" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101" protect_max_torque="10.0" equa_inertia="0.01" />
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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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