453 lines
10 KiB
XML
453 lines
10 KiB
XML
<robot
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name="elfin10_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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<xacro:property name="coef" value="0.000000001"/>
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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="-0.00226511349377665 4.35718066723423E-06 0.0325128562537015"
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rpy="0 0 0" />
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<mass
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value="1.66727740473724" />
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<inertia
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ixx="0.004269288474386"
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ixy="6.02518130623966E-08"
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ixz="-6.92087963593712E-05"
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iyy="0.00385585336301628"
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iyz="-5.51423740999103E-08"
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izz="0.00682044733276819" />
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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/elfin10_l/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_description/meshes/elfin10_l/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="7.6115220281183E-07 -0.00299993146131653 -0.0432740318305943"
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rpy="0 0 0" />
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<mass
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value="6.35899572879904" />
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<inertia
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ixx="0.0391771189350117"
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ixy="5.46819690041112E-08"
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ixz="4.18972540516351E-07"
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iyy="0.0381555139127934"
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iyz="0.00661206821297882"
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izz="0.0211340214080411" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 0.26"
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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="1.26562279557746E-05 0.258784601799915 0.144926112167098"
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rpy="0 0 0" />
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<mass
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value="6.55089875805688" />
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<inertia
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ixx="0.247195043947412"
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ixy="-2.70734939897219E-05"
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ixz="-3.78513402564327E-06"
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iyy="0.0107113621840064"
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iyz="0.00837472845545797"
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izz="0.250565757745814" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 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="0.0357493010325542 -2.74306218542934E-06 -0.00441107033859726"
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rpy="0 0 0" />
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<mass
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value="3.25128088176386" />
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<inertia
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ixx="0.00712273848825832"
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ixy="4.14583629905974E-07"
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ixz="-0.00240614658525448"
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iyy="0.0131139012868194"
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iyz="-1.53857409851211E-07"
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izz="0.0123861174715061" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 0.6 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="9.41736425899586E-06 -0.0708125543068235 0.382493072990425"
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rpy="0 0 0" />
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<mass
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value="3.07863708461763" />
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<inertia
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ixx="0.0973868129912769"
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ixy="8.21409630969152E-07"
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ixz="-1.350925536562E-05"
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iyy="0.0935349784705533"
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iyz="0.0161279916812234"
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izz="0.00772306307372368" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 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="5.36985381304584E-06 -0.0262387102325345 -0.00353411562719939"
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rpy="0 0 0" />
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<mass
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value="1.39255462129319" />
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<inertia
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ixx="0.0033626143916346"
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ixy="2.21088132953804E-07"
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ixz="-5.59694684135057E-07"
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iyy="0.00182232508909043"
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iyz="0.000639319390604948"
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izz="0.00292731840916777" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 0.7"
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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="-8.44857343926925E-06 -0.000409018840054455 0.144623218142738"
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rpy="0 0 0" />
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<mass
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value="0.297726965259557" />
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<inertia
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ixx="0.000151947743938131"
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ixy="-1.77898422987818E-09"
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ixz="6.95728248075282E-08"
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iyy="0.000155012877715246"
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iyz="-8.70181917523095E-08"
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izz="0.000269962872258385" />
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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/elfin10_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="0.752941176470588 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_description/meshes/elfin10_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 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 0.1735"
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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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