448 lines
10 KiB
Plaintext
448 lines
10 KiB
Plaintext
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<!-- Generated from elfin_model/urdf/ROS1/485/elfin5.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin5">
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<link name="world"/>
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<joint name="world_base" type="fixed">
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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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<parent
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link="world" />
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<child
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link="elfin_base_link" />
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</joint>
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<link name="elfin_base_link"/>
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<joint name="elfin_base_joint" type="fixed">
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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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<parent
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link="elfin_base_link" />
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<child
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link="elfin_base" />
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</joint>
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<link
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name="elfin_base">
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<inertial>
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<origin
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xyz="-0.000759276386766298 5.75087291643996E-06 0.0302936529364059"
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rpy="0 0 0" />
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<mass
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value="0.976055991186305" />
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<inertia
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ixx="0.00157733373629581"
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ixy="1.16231027909901E-07"
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ixz="-2.16838482265701E-05"
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iyy="0.0014460262404242"
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iyz="-6.75796232258122E-08"
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izz="0.00236575468413022" />
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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://elfin_model/model/485/elfin5/elfin_base.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="0.752941176470588 0.752941176470588 0.752941176470588 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://elfin_model/model/485/elfin5/elfin_base.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="elfin_link1">
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<inertial>
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<origin
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xyz="2.74291285858877E-06 -0.00431106908088009 -0.0357493000420957"
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rpy="0 0 0" />
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<mass
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value="3.25128102774055" />
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<inertia
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ixx="0.0131139015939654"
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ixy="1.53830686193534E-07"
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ixz="4.14641049481159E-07"
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iyy="0.0123861178713592"
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iyz="0.00240614664669851"
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izz="0.00712273876232631" />
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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://elfin_model/model/485/elfin5/elfin_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="0.752941176470588 0.752941176470588 0.752941176470588 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://elfin_model/model/485/elfin5/elfin_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="elfin_joint1"
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type="revolute">
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<origin
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xyz="0 0 0.22"
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rpy="0 0 0" />
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<parent
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link="elfin_base" />
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<child
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link="elfin_link1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.14"
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upper="3.14"
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effort="34"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link2">
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<inertial>
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<origin
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xyz="-4.61141930520168E-06 0.1591743105703 0.127676233728645"
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rpy="0 0 0" />
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<mass
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value="2.80251415493372" />
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<inertia
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ixx="0.0472004127058612"
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ixy="-3.78127975165949E-06"
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ixz="2.96484076164973E-07"
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iyy="0.00279445987467469"
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iyz="0.0015424585085081"
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izz="0.0478757132444163" />
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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://elfin_model/model/485/elfin5/elfin_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="0.752941176470588 0.752941176470588 0.752941176470588 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://elfin_model/model/485/elfin5/elfin_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="elfin_joint2"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="1.5708 0 0" />
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<parent
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link="elfin_link1" />
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<child
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link="elfin_link2" />
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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="104"
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velocity="1.27" />
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</joint>
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<link
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name="elfin_link3">
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<inertial>
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<origin
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xyz="0.0290082764878197 8.22344842790907E-06 -0.00396673307169731"
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rpy="0 0 0" />
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<mass
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value="1.98577160325313" />
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<inertia
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ixx="0.00325219349943881"
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ixy="-2.70050559654686E-07"
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ixz="-0.00114506857457836"
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iyy="0.00594604197825753"
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iyz="7.00611681888754E-07"
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izz="0.00528005541994538" />
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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://elfin_model/model/485/elfin5/elfin_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="0.752941176470588 0.752941176470588 0.752941176470588 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://elfin_model/model/485/elfin5/elfin_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="elfin_joint3"
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type="revolute">
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<origin
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xyz="0 0.38 0"
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rpy="-3.1416 0 1.5708" />
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<parent
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link="elfin_link2" />
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<child
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link="elfin_link3" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.61"
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upper="2.61"
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effort="69"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link4">
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<inertial>
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<origin
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xyz="-3.37325282928927E-05 -0.059246634833044 0.248712399920572"
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rpy="0 0 0" />
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<mass
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value="1.3966627675706" />
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<inertia
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ixx="0.0146417786566676"
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ixy="-1.72570245202171E-06"
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ixz="6.27583250069289E-06"
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iyy="0.0128389262643824"
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iyz="0.00385606704922265"
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izz="0.00311370666742545" />
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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://elfin_model/model/485/elfin5/elfin_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="0.752941176470588 0.752941176470588 0.752941176470588 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://elfin_model/model/485/elfin5/elfin_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="elfin_joint4"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="1.5708 0 1.5708" />
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<parent
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link="elfin_link3" />
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<child
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link="elfin_link4" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.14"
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upper="3.14"
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effort="69"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link5">
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<inertial>
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||
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<origin
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xyz="-1.05027703236487E-06 -0.0219935502921469 -0.00313939706763143"
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rpy="0 0 0" />
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<mass
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value="1.1871798415152" />
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<inertia
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ixx="0.00223607662477792"
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ixy="7.69598522894212E-08"
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ixz="1.87231069600643E-07"
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iyy="0.00135159849015081"
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iyz="0.000420977801448324"
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izz="0.00193236500775232" />
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</inertial>
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<visual>
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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="package://elfin_model/model/485/elfin5/elfin_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="0.752941176470588 0.752941176470588 0.752941176470588 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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||
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<mesh
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filename="package://elfin_model/model/485/elfin5/elfin_link5.STL" />
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</geometry>
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</collision>
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</link>
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|
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<joint
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name="elfin_joint5"
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type="revolute">
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||
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<origin
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xyz="0 0 0.42"
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rpy="-1.5708 0 0" />
|
||
|
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<parent
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||
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link="elfin_link4" />
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||
|
|
<child
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||
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link="elfin_link5" />
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||
|
|
<axis
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||
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xyz="0 0 1" />
|
||
|
|
<limit
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||
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|
lower="-2.56"
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||
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upper="2.56"
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||
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effort="34"
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||
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velocity="1.57" />
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||
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</joint>
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||
|
|
<link
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||
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|
name="elfin_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="0.000198775884625465 -0.00258578679784734 0.122721343515984"
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||
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rpy="0 0 0" />
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||
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<mass
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value="0.227402723766046" />
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||
|
|
<inertia
|
||
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ixx="0.000125089189356194"
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||
|
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ixy="-2.55243323251586E-07"
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||
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ixz="6.94635018518032E-09"
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iyy="0.000130642649353076"
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iyz="1.84890680096304E-07"
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izz="0.00020396393179538" />
|
||
|
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</inertial>
|
||
|
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<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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<geometry>
|
||
|
|
<mesh
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||
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|
filename="package://elfin_model/model/485/elfin5/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
<material
|
||
|
|
name="">
|
||
|
|
<color
|
||
|
|
rgba="0.752941176470588 0.752941176470588 0.752941176470588 1" />
|
||
|
|
</material>
|
||
|
|
</visual>
|
||
|
|
<collision>
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<geometry>
|
||
|
|
<mesh
|
||
|
|
filename="package://elfin_model/model/485/elfin5/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="elfin_joint6"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="1.5708 0 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link5" />
|
||
|
|
<child
|
||
|
|
link="elfin_link6" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-3.14"
|
||
|
|
upper="3.14"
|
||
|
|
effort="34"
|
||
|
|
velocity="1.57" />
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="elfin_end_link">
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="elfin_end_joint"
|
||
|
|
type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.146"
|
||
|
|
rpy="0 0 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_end_link" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 0" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
<link name="elfin_dummy_gripper"/>
|
||
|
|
|
||
|
|
<joint name="elfin_dummy_joint" type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 -0.0935 0"
|
||
|
|
rpy="1.5707963267949 1.5707963267949 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|