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<?xml version="1.0" ?> |
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<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro"> |
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<material name="Grey"> |
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<color rgba="0.2 0.2 0.2 1.0"/> |
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</material> |
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<material name="Orange"> |
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<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/> |
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</material> |
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<material name="Blue"> |
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<color rgba="0.5 0.7 1.0 1.0"/> |
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</material> |
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<link name="lbr_iiwa_link_0"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="-0.1 0 0.07"/> |
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<mass value="0.0"/> |
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<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_0.obj"/> |
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</geometry> |
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<material name="Grey"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_0.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_1" type="revolute"> |
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<parent link="lbr_iiwa_link_0"/> |
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<child link="lbr_iiwa_link_1"/> |
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<origin rpy="0 0 0" xyz="0 0 0.1575"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_1"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 -0.03 0.12"/> |
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<mass value="4"/> |
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<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_1.obj"/> |
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</geometry> |
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<material name="Blue"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_1.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_2" type="revolute"> |
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<parent link="lbr_iiwa_link_1"/> |
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<child link="lbr_iiwa_link_2"/> |
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<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0.2025"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_2"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/> |
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<mass value="4"/> |
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<inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_2.obj"/> |
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</geometry> |
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<material name="Blue"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_2.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_3" type="revolute"> |
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<parent link="lbr_iiwa_link_2"/> |
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<child link="lbr_iiwa_link_3"/> |
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<origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_3"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0.03 0.13"/> |
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<mass value="3"/> |
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<inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_3.obj"/> |
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</geometry> |
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<material name="Orange"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_3.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_4" type="revolute"> |
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<parent link="lbr_iiwa_link_3"/> |
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<child link="lbr_iiwa_link_4"/> |
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<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_4"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0.067 0.034"/> |
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<mass value="2.7"/> |
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<inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_4.obj"/> |
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</geometry> |
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<material name="Blue"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_4.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_5" type="revolute"> |
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<parent link="lbr_iiwa_link_4"/> |
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<child link="lbr_iiwa_link_5"/> |
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<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_5"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/> |
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<mass value="1.7"/> |
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<inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_5.obj"/> |
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</geometry> |
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<material name="Blue"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_5.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_6" type="revolute"> |
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<parent link="lbr_iiwa_link_5"/> |
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<child link="lbr_iiwa_link_6"/> |
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<origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_6"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0.0006 0.0004"/> |
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<mass value="1.8"/> |
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<inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_6.obj"/> |
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</geometry> |
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<material name="Orange"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_6.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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<joint name="lbr_iiwa_joint_7" type="revolute"> |
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<parent link="lbr_iiwa_link_6"/> |
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<child link="lbr_iiwa_link_7"/> |
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<origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/> |
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<axis xyz="0 0 1"/> |
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<limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/> |
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<dynamics damping="0.5"/> |
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</joint> |
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<link name="lbr_iiwa_link_7"> |
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<inertial> |
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<origin rpy="0 0 0" xyz="0 0 0.02"/> |
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<mass value="0.3"/> |
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/> |
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</inertial> |
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<visual> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_7.obj"/> |
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</geometry> |
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<material name="Grey"/> |
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</visual> |
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<collision> |
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<origin rpy="0 0 0" xyz="0 0 0"/> |
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<geometry> |
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<mesh filename="meshes/link_7.stl"/> |
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</geometry> |
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</collision> |
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</link> |
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</robot> |
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