242 lines
8.4 KiB
XML
242 lines
8.4 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_C10">
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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 name="base_link">
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<inertial>
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<origin xyz="-2.7535E-06 0.00054789 0.02299" rpy="0 0 0" />
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<mass value="1.2345" />
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<inertia ixx="0.0029215" ixy="2.2046E-07" ixz="-3.4773E-08" iyy="0.0028546" iyz="-7.6362E-06" izz="0.0051176" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link0.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link0.STL" />
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</geometry>
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</collision>
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</link>
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<link name="shoulder_Link">
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<inertial>
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<origin xyz="0.00029287 0.14173 0.54281" rpy="0 0 0" />
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<mass value="10.994" />
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<inertia ixx="2.2088" ixy="-0.00043922" ixz="-0.0025417" iyy="2.1473" iyz="-0.049088" izz="0.07998" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://aubo_description/meshes/aubo_C10/visual/link1.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link1.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="shoulder_joint" type="revolute">
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<origin xyz="0 0 0.1632" rpy="-8.7138E-17 -4.3534E-32 3.1415926535897932384626433832795" />
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<parent link="base_link" />
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<child link="shoulder_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.31908 -3.7071E-06 -0.0042956" rpy="0 0 0" />
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<mass value="5.3139" />
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<inertia ixx="0.0095171" ixy="7.2849E-06" ixz="-6.7014E-06" iyy="0.11411" iyz="-1.1529E-06" izz="0.11411" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link2.3ds" />
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</geometry>
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<material name="">
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<color rgba="0.89804 0.91765 0.92941 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link2.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="upperArm_joint" type="revolute">
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<origin xyz="0 0.2013 0" rpy="-1.5707963267948966192313216916398 -1.5707963267948966192313216916398 0" />
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<parent link="shoulder_Link" />
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<child link="upperArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="267" start_stop="411" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.75" ratio="101"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.24431 6.6794E-06 0.12549" rpy="0 0 0" />
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<mass value="3.1022" />
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<inertia ixx="0.0027288" ixy="-6.2713E-06" ixz="-0.0018082" iyy="0.097825" iyz="3.5731E-07" izz="0.097866" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link3.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link3.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="foreArm_joint" type="revolute">
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<origin xyz="0.647 0 0" rpy="-3.1415926535897932384626433832795 -4.5954E-17 -8.4328E-17" />
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<parent link="upperArm_Link" />
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<child link="foreArm_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="133" start_stop="207" velocity="2.5656" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.72" ratio="121"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="5.2305E-07 0.00026581 -0.0027894" rpy="0 0 0" />
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<mass value="0.57981" />
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<inertia ixx="0.00088336" ixy="-6.425E-09" ixz="5.1594E-09" iyy="0.00046118" iyz="-1.0734E-06" izz="0.00085336" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link4.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link4.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist1_joint" type="revolute">
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<origin xyz="0.6005 0 0" rpy="3.1415926535897932384626433832795 -1.4294E-15 1.5707963267948966192313216916398" />
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<parent link="foreArm_Link" />
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<child link="wrist1_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="49" start_stop="66" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="8.81" ratio="101"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-5.2305E-07 -0.00026581 -0.0027894" rpy="0 0 0" />
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<mass value="0.57981" />
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<inertia ixx="0.00088336" ixy="-6.4251E-09" ixz="-5.1594E-09" iyy="0.00046118" iyz="1.0734E-06" izz="0.00085336" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link5.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link5.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist2_joint" type="revolute">
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<origin xyz="0 0.1025 0" rpy="-1.5707963267948966192313216916398 -7.0777E-16 -7.4101E-16" />
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<parent link="wrist1_Link" />
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<child link="wrist2_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="-2.2127E-09 0.00023722 -0.018629" rpy="0 0 0" />
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<mass value="0.13669" />
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<inertia ixx="6.0946E-05" ixy="9.3663E-12" ixz="-1.3841E-12" iyy="5.9501E-05" iyz="1.9944E-07" izz="9.6981E-05" />
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</inertial>
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/visual/link6.3ds" />
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</geometry>
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<material name="">
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<color rgba="1 1 1 1" />
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</material>
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</visual>
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<collision>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<mesh filename="package://aubo_description/meshes/aubo_C10/collision/link6.STL" />
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</geometry>
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</collision>
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</link>
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<joint name="wrist3_joint" type="revolute">
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<origin xyz="0 -0.094 0" rpy="1.5707963267948966192313216916398 0 6.7283E-16" />
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<parent link="wrist2_Link" />
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<child link="wrist3_Link" />
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<axis xyz="0 0 1" />
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<limit lower="-6.283185307179586476925286766559" upper="6.283185307179586476925286766559" effort="13.5" start_stop="34" velocity="3.1416" />
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<property inertia="0" damping="0" stiffness="0" offset="0" motor_constant="7.092" ratio="101"/>
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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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