447 lines
10 KiB
XML
447 lines
10 KiB
XML
<!-- Generated from elfin_model/urdf/ROS1/ethercat/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="-0.000763828012447035 5.78534761012293E-06 0.0304416599943415"
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rpy="0 0 0" />
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<mass
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value="0.970239706050223" />
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<inertia
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ixx="0.00157696245666968"
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ixy="1.16231027909909E-07"
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ixz="-2.16838482265701E-05"
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iyy="0.00144565496079807"
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iyz="-6.75796232258151E-08"
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izz="0.00236570554301517" />
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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/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/ethercat/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="2.74291280953301E-06 -0.00431106908088009 -0.0357493000420958"
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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="1.53830686193548E-07"
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ixz="4.14641049481189E-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/ethercat/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/ethercat/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="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="-4.61141935425826E-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="2.96484076164975E-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/ethercat/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/ethercat/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="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="0.0290082764878195 8.22344830496747E-06 -0.00396673307172194"
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rpy="0 0 0" />
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<mass
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value="1.985771603253" />
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<inertia
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ixx="0.00325219349943707"
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ixy="-2.70050556242264E-07"
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ixz="-0.00114506857457687"
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iyy="0.00594604197825752"
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iyz="7.00611683851371E-07"
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izz="0.00528005541994704" />
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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/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/ethercat/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="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="-3.37325284266827E-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/ethercat/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/ethercat/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="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="-1.05027528186624E-06 -0.0219935502961173 -0.00313939707023243"
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rpy="0 0 0" />
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<mass
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value="1.18717984150567" />
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<inertia
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ixx="0.00223607662459616"
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ixy="7.69598109537055E-08"
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ixz="1.87231135997621E-07"
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iyy="0.00135159849023817"
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iyz="0.000420977801546637"
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izz="0.00193236500760183" />
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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/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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<mesh
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filename="package://elfin_model/model/ethercat/elfin5/elfin_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="elfin_joint5"
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type="revolute">
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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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link="elfin_link4" />
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<child
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link="elfin_link5" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-2.56"
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upper="2.56"
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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_link6">
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<inertial>
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<origin
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xyz="-1.59841620089968E-05 -0.00034491847744483 0.128921909891105"
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rpy="0 0 0" />
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<mass
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value="0.281755133133711" />
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<inertia
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ixx="0.000141506869040406"
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ixy="-3.26513406770626E-08"
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ixz="7.38940963331507E-08"
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iyy="0.000144516478405932"
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iyz="-8.86072913302242E-08"
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izz="0.000252050888055838" />
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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/elfin5/elfin_link6.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/ethercat/elfin5/elfin_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="elfin_joint6"
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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_link5" />
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<child
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link="elfin_link6" />
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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_end_link"/>
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<joint
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name="elfin_end_joint"
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type="fixed">
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<origin
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xyz="0 0 0.1565"
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rpy="0 0 0" />
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<parent
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link="elfin_link6" />
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<child
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link="elfin_end_link" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link name="elfin_dummy_gripper"/>
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<joint name="elfin_dummy_joint" type="fixed">
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<origin
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xyz="0 -0.0935 0"
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rpy="1.5707963267949 1.5707963267949 0" />
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<parent
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link="elfin_link6" />
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<child
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link="elfin_dummy_gripper" />
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</joint>
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</robot>
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