452 lines
9.4 KiB
XML
452 lines
9.4 KiB
XML
<robot
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name="elfin5_l" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:include filename="$(find elfin_description)/urdf/materials.xacro" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_robot.gazebo" />
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<xacro:include filename="$(find elfin_description)/urdf/elfin_transmission.xacro" />
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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="-0.0007634 5.6362E-06 0.030441"
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rpy="0 0 0" />
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<mass
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value="0.97022" />
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<inertia
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ixx="0.0015769"
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ixy="1.2223E-07"
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ixz="-2.1696E-05"
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iyy="0.0014456"
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iyz="-6.1863E-08"
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izz="0.0023657" />
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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_description/meshes/elfin5_l/elfin_base_link.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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/elfin_base_link.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="3.3881E-06 -0.0059071 0.10092"
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rpy="0 0 0" />
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<mass
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value="3.1643" />
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<inertia
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ixx="0.012965"
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ixy="6.1671E-08"
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ixz="4.3957E-07"
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iyy="0.012144"
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iyz="0.0023647"
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izz="0.0069485" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 0.082"
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rpy="0 0 0" />
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<parent
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link="elfin_base" />
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<child
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link="elfin_link1" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="-3.14"
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upper="3.14"
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effort="420"
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velocity="1.57" />
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</joint>
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<link
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name="elfin_link2">
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<inertial>
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<origin
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xyz="-1.114E-05 -0.049377 0.19342"
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rpy="0 0 0" />
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<mass
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value="3.1869" />
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<inertia
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ixx="0.073265"
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ixy="5.1353E-07"
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ixz="-2.6175E-06"
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iyy="0.073984"
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iyz="-0.0020394"
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izz="0.0031464" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 -0.07785 0.138"
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rpy="0 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 -1 0" />
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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="9.3762E-06 0.066365 0.030316"
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rpy="0 0 0" />
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<mass
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value="1.9252" />
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<inertia
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ixx="0.0058726"
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ixy="7.1997E-07"
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ixz="-2.9335E-07"
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iyy="0.0051729"
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iyz="-0.0011237"
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izz="0.0031696" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 0.00585 0.455"
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rpy="0 0 0" />
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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 1 0" />
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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="-2.4659E-05 -0.042655 0.16376"
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rpy="0 0 0" />
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<mass
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value="1.94" />
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<inertia
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ixx="0.025102"
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ixy="-2.7421E-06"
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ixz="8.4771E-06"
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iyy="0.022005"
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iyz="0.0071908"
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izz="0.0050335" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 0.072 0.117"
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rpy="0 0 0" />
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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="-4.9859E-07 0.055949 0.022517"
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rpy="0 0 0" />
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<mass
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value="0.9902" />
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<inertia
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ixx="0.0019311"
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ixy="1.0751E-07"
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ixz="-3.2968E-08"
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iyy="0.0016081"
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iyz="-0.00037481"
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izz="0.0010972" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 -0.060249 0.378"
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rpy="0 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 1 0" />
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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="0.00019949 -0.0025865 0.030984"
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rpy="0 0 0" />
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<mass
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value="0.22732" />
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<inertia
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ixx="0.000125"
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ixy="-2.5767E-07"
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ixz="7.1113E-09"
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iyy="0.00013055"
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iyz="1.8454E-07"
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izz="0.00020378" />
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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_description/meshes/elfin5_l/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="0.75294 0.75294 0.75294 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_description/meshes/elfin5_l/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 0.060249 0.09175"
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rpy="0 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 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 0.0 0.05425"
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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 0.109 0"
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rpy="-1.5708 1.5708 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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