448 lines
10 KiB
Plaintext
448 lines
10 KiB
Plaintext
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<!-- Generated from elfin_model/urdf/ROS1/ethercat/elfin15.urdf.xacro; external Gazebo/transmission includes omitted. -->
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<robot
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name="elfin15">
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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="-0.00137018130408533 -2.08409607078139E-06 0.0376538014243397"
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rpy="0 0 0" />
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<mass
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value="2.70257461902285" />
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<inertia
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ixx="0.00938125784352759"
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ixy="-3.1887671545475E-09"
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ixz="-6.8867614840487E-05"
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iyy="0.00898645591278108"
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iyz="-1.99352142230335E-07"
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izz="0.015708544428067" />
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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/ethercat/elfin15/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="0.866666666666667 0.866666666666667 0.890196078431372 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/ethercat/elfin15/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="8.16871679225712E-06 -0.00327076216928575 -0.0357443582073996"
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rpy="0 0 0" />
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<mass
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value="9.72548992374063" />
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<inertia
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ixx="0.0877898222410778"
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ixy="7.51166191337628E-06"
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ixz="-1.02593778354047E-05"
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iyy="0.0787662782449541"
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iyz="0.00190236579914971"
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izz="0.0591572039539081" />
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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/ethercat/elfin15/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="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://elfin_model/model/ethercat/elfin15/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 0.262"
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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="420"
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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="1.9322796757489E-05 0.292090106394198 0.154041257842535"
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rpy="0 0 0" />
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<mass
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value="9.54890458234143" />
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<inertia
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ixx="0.589316783120317"
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ixy="-5.67663608156346E-05"
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ixz="-4.92933877201573E-06"
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iyy="0.0224325491073289"
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iyz="0.0314559548025455"
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izz="0.596074459786394" />
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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/ethercat/elfin15/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="0.890196078431372 0.890196078431372 0.913725490196078 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/ethercat/elfin15/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="420"
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velocity="1.57" />
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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="0.0361016983818296 -3.38362974484633E-06 -0.00436863890994984"
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rpy="0 0 0" />
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<mass
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value="2.91695075996986" />
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<inertia
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ixx="0.00742981276706272"
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ixy="4.86606934151244E-07"
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ixz="-0.00053693424418515"
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iyy="0.0135717990039811"
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iyz="-2.96883650370105E-07"
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izz="0.0118099746880734" />
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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/ethercat/elfin15/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="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://elfin_model/model/ethercat/elfin15/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 0.73 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="200"
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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="3.96882664917223E-05 -0.0650155012932467 0.320832871798224"
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rpy="0 0 0" />
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<mass
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value="2.82013622854974" />
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<inertia
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ixx="0.0599767754983284"
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ixy="3.79711278862776E-06"
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ixz="-1.98444520882357E-05"
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iyy="0.055825005713191"
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iyz="0.0126917031165986"
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izz="0.0079193539729856" />
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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/ethercat/elfin15/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="0.792156862745098 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://elfin_model/model/ethercat/elfin15/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="200"
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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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<origin
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xyz="-7.13592588147179E-06 0.0250238965255321 -0.00249029500068249"
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rpy="0 0 0" />
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<mass
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value="1.25663090248721" />
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<inertia
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ixx="0.00349957647668621"
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ixy="2.50320892962179E-07"
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ixz="4.75533746465038E-07"
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iyy="0.00202568589371655"
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iyz="-9.97554673070372E-05"
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izz="0.00273058830542026" />
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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/ethercat/elfin15/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="0.890196078431372 0.890196078431372 0.913725490196078 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/ethercat/elfin15/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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<origin
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xyz="0 0 0.57"
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rpy="1.5708 0 3.1416" />
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||
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<parent
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link="elfin_link4" />
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|
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<child
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||
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link="elfin_link5" />
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||
|
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<axis
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xyz="0 0 1" />
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||
|
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<limit
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||
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|
lower="-2.56"
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upper="2.56"
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||
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effort="69"
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||
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velocity="1.57" />
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||
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</joint>
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||
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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="5.80862976798685E-06 -0.000263099303701575 0.140588330549588"
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rpy="0 0 0" />
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||
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<mass
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value="0.340445821267154" />
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||
|
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<inertia
|
||
|
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ixx="0.000174302732753541"
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||
|
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ixy="-1.36563776666256E-08"
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ixz="2.64383795850182E-08"
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iyy="0.000178213326580043"
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iyz="-6.34435462617436E-08"
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izz="0.000299299639534556" />
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||
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</inertial>
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||
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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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||
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|
filename="package://elfin_model/model/ethercat/elfin15/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/ethercat/elfin15/elfin_link6.STL" />
|
||
|
|
</geometry>
|
||
|
|
</collision>
|
||
|
|
</link>
|
||
|
|
<joint
|
||
|
|
name="elfin_joint6"
|
||
|
|
type="revolute">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0"
|
||
|
|
rpy="1.5708 0 3.1416" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link5" />
|
||
|
|
<child
|
||
|
|
link="elfin_link6" />
|
||
|
|
<axis
|
||
|
|
xyz="0 0 1" />
|
||
|
|
<limit
|
||
|
|
lower="-3.14"
|
||
|
|
upper="3.14"
|
||
|
|
effort="69"
|
||
|
|
velocity="1.57"/>
|
||
|
|
</joint>
|
||
|
|
<link
|
||
|
|
name="elfin_end_link"/>
|
||
|
|
<joint
|
||
|
|
name="elfin_end_joint"
|
||
|
|
type="fixed">
|
||
|
|
<origin
|
||
|
|
xyz="0 0 0.1735"
|
||
|
|
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 0.109 0"
|
||
|
|
rpy="-1.5708 1.5708 0" />
|
||
|
|
<parent
|
||
|
|
link="elfin_link6" />
|
||
|
|
<child
|
||
|
|
link="elfin_dummy_gripper" />
|
||
|
|
</joint>
|
||
|
|
|
||
|
|
</robot>
|