228 lines
8.4 KiB
XML
228 lines
8.4 KiB
XML
<?xml version="1.0"?>
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<robot name="aubo_iS20L_21">
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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="0.000229 0.001159 0.034428" rpy="0 0 0" />
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<mass value="5.346475" />
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<inertia ixx="0.032233" ixy="0.000005" ixz="-0.000002" iyy="0.031749" iyz="-0.000139" izz="0.054685" />
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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_iS20L_21/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_iS20L_21/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="-0.000063 0.005306 -0.037423" rpy="0 0 0" />
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<mass value="19.848224" />
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<inertia ixx="0.141701" ixy="-0.000011" ixz="0.000006" iyy="0.139553" iyz="-0.004204" izz="0.107794" />
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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_iS20L_21/visual/link1.3ds" />
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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_iS20L_21/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 0.2105" rpy="0 0 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="809" start_stop="1147" velocity="1.62" />
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<property inertia="12.04" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="161"/>
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</joint>
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<link name="upperArm_Link">
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<inertial>
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<origin xyz="0.378001 0.000024 0.010901" rpy="0 0 0" />
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<mass value="37.394728" />
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<inertia ixx="0.218624" ixy="0.000512" ixz="-0.133027" iyy="7.976145" iyz="0.000026" izz="7.933088" />
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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_iS20L_21/visual/link2.3ds" />
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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_iS20L_21/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 0.208 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="809" start_stop="1147" velocity="1.62" />
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<property inertia="9.4874" damping="0" stiffness="0" offset="0" motor_constant="16.66" ratio="161"/>
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</joint>
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<link name="foreArm_Link">
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<inertial>
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<origin xyz="0.535074 -0.000011 0.113712" rpy="0 0 0" />
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<mass value="6.748493" />
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<inertia ixx="0.013578" ixy="0.000021" ixz="0.005026" iyy="0.694854" iyz="0.000001" izz="0.693538" />
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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_iS20L_21/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_iS20L_21/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="1.050 0 0" rpy="-3.1415926535897932384626433832795 0 0" />
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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="267" start_stop="411" velocity="4.14" />
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<property inertia="4.9" damping="0" stiffness="0" offset="0" motor_constant="8.837" ratio="101"/>
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</joint>
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<link name="wrist1_Link">
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<inertial>
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<origin xyz="0.000010 0.019300 -0.001720" rpy="0 0 0" />
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<mass value="2.890610" />
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<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="-0.000120" izz="0.004640" />
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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_iS20L_21/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_iS20L_21/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="0.825 0 0" rpy="3.1415926535897932384626433832795 0 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="58" start_stop="91" velocity="5.1714105736592" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="8.58" ratio="81"/>
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</joint>
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<link name="wrist2_Link">
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<inertial>
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<origin xyz="-0.000010 -0.019300 -0.001720" rpy="0 0 0" />
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<mass value="2.890610" />
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<inertia ixx="0.004670" ixy="-0.000000" ixz="-0.000000" iyy="0.003320" iyz="0.000120" izz="0.004640" />
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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_iS20L_21/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_iS20L_21/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 0.125 0" rpy="-1.5707963267948966192313216916398 0 0" />
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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="58" start_stop="91" velocity="5.1714105736592" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="5.88" ratio="81"/>
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</joint>
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<link name="wrist3_Link">
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<inertial>
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<origin xyz="-0.000680 0.000500 -0.019150" rpy="0 0 0" />
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<mass value="0.379000" />
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<inertia ixx="0.000290" ixy="-0.000000" ixz="-0.000000" iyy="0.000300" iyz="-0.000000" izz="0.000510" />
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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_iS20L_21/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_iS20L_21/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 -0.1083 0" rpy="1.5707963267948966192313216916398 0 1.7907E-15" />
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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="58" start_stop="91" velocity="3.1105" />
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<property inertia="0.96" damping="0" stiffness="0" offset="0" motor_constant="5.88" ratio="81"/>
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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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