414 lines
10 KiB
XML
414 lines
10 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_T6">
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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
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name="base_link">
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<inertial>
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<origin
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xyz="0.000129 0.001249 0.016678"
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rpy="0 0 0" />
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<mass
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value="1.539" />
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<inertia
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ixx="0.003278"
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ixy="-0.000001"
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ixz="-0.000001"
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iyy="0.003017"
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iyz="-0.000048"
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izz="0.005841" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link0.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.79216 0.81961 0.93333 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="shoulder_Link">
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<inertial>
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<origin
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xyz="0.0000001 -0.001735 0.000000"
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rpy="0 0 0" />
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<mass
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value="5.222694" />
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<inertia
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ixx="0.0115"
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ixy="-0.000001"
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ixz="-0.00001"
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iyy="0.011459"
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iyz="0.000125"
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izz="0.008356" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link1.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.192156862745098 0.192156862745098 0.192156862745098 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="shoulder_joint"
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type="revolute">
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<origin
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xyz="0 0 0.122"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="shoulder_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.054326190990076759616458844855"
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upper="3.054326190990076759616458844855"
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effort="107"
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start_stop="169"
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velocity="5.811946409" />
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<property inertia="0.49" damping="0" stiffness="0" offset="0" motor_constant="5.92" ratio="81"/>
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</joint>
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<link
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name="upperArm_Link">
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<inertial>
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<origin
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xyz="0.190000 0.000000 -0.012136"
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rpy="0 0 0" />
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<mass
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value="11.447426" />
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<inertia
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ixx="0.02495"
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ixy="-0.000039"
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ixz="0.000000"
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iyy="0.401682"
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iyz="0.000000"
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izz="0.395229" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link2.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="upperArm_joint"
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type="revolute">
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<origin
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xyz="0 -0.1405 0"
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rpy="1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent
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link="shoulder_Link" />
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<child
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link="upperArm_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.054326190990076759616458844855"
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upper="3.054326190990076759616458844855"
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effort="133"
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start_stop="194"
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velocity="4.660029103" />
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<property inertia="0.77" damping="0" stiffness="0" offset="0" motor_constant="9.18" ratio="101"/>
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</joint>
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<link
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name="foreArm_Link">
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<inertial>
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<origin
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xyz="0.00002 -0.0133 -0.00174"
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rpy="0 0 0" />
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<mass
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value="5.22269" />
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<inertia
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ixx="0.0115"
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ixy="-0.00001"
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ixz="0.0"
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iyy="0.00836"
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iyz="0.00013"
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izz="0.01146" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link3.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.188235294117647 0.188235294117647 0.188235294117647 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="foreArm_joint"
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type="revolute">
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<origin
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xyz="0.38 0 -0.1405"
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rpy="3.1415926535897932384626433832795 0 -1.5707963267948966192313216916398" />
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<parent
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link="upperArm_Link" />
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<child
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link="foreArm_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.530727415391777886539351614308"
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upper="2.530727415391777886539351614308"
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effort="107"
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start_stop="169"
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velocity="5.8119" />
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<property inertia="0.49" damping="0" stiffness="0" offset="0" motor_constant="5.92" ratio="81"/>
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</joint>
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<link
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name="wrist1_Link">
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<inertial>
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<origin
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xyz="0.00131 -0.0416 -0.16953"
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rpy="0 0 0" />
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<mass
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value="1.31739" />
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<inertia
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ixx="0.01445"
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ixy="-0.00007"
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ixz="0.0001"
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iyy="0.01314"
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iyz="0.00377"
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izz="0.00383" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link4.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 0.72156862745098 0.329411764705882 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="wrist1_joint"
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type="revolute">
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<origin
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xyz="0 -0.37 0"
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rpy="1.5707963267948966192313216916398 0 0" />
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<parent
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link="foreArm_Link" />
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<child
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link="wrist1_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.054326190990076759616458844855"
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upper="3.054326190990076759616458844855"
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effort="107"
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start_stop="169"
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velocity="5.8119" />
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<property inertia="0.49" damping="0" stiffness="0" offset="0" motor_constant="5.92" ratio="81"/>
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</joint>
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<link
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name="wrist2_Link">
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<inertial>
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<origin
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xyz="0.03953 -0.00803 -0.00807"
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rpy="0 0 0" />
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<mass
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value="5.07821" />
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<inertia
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ixx="0.00764"
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ixy="0.00167"
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ixz="-0.00165"
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iyy="0.01406"
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iyz="0.00032"
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izz="0.0141" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link5.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.909803921568627 0.513725490196078 0 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint
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name="wrist2_joint"
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type="revolute">
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<origin
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xyz="0 0 0"
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rpy="-1.5707963267948966192313216916398 0 0" />
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<parent
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link="wrist1_Link" />
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<child
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link="wrist2_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.054326190990076759616458844855"
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upper="3.054326190990076759616458844855"
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effort="32"
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start_stop="42"
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velocity="8.2130" />
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<property inertia="0.1" damping="0" stiffness="0" offset="0" motor_constant="4.29" ratio="51"/>
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</joint>
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<link
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name="wrist3_Link">
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<inertial>
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<origin
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xyz="0.00009 -0.00011 -0.01732"
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rpy="0 0 0" />
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<mass
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value="0.21303" />
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<inertia
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ixx="0.00014"
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ixy="1.53096161887335E-08"
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ixz="7.75687919492392E-09"
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iyy="0.00014"
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iyz="9.38013753445964E-07"
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izz="0.00024" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/visual/link6.DAE" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 0.72156862745098 0.329411764705882 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_T6/collision/link6.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="wrist3_joint"
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type="revolute">
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<origin
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xyz="0.08 -0.1035 0"
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rpy="1.5707963267948966192313216916398 1.5707963267948966192313216916398 0" />
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<parent
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link="wrist2_Link" />
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<child
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link="wrist3_Link" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.054326190990076759616458844855"
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upper="3.054326190990076759616458844855"
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effort="32"
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start_stop="42"
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velocity="8.2130" />
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<property inertia="0.1" damping="0" stiffness="0" offset="0" motor_constant="4.29" ratio="51"/>
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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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