2018-08-16 19:44:43 +00:00
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<?xml version="1.0" ?>
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2015-07-16 00:51:49 +00:00
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<robot name="urdf_robot">
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<link name="baseLink">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0.0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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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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<box size="0.1 .1 .1"/>
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</geometry>
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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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<box size="0.1 .1 .1"/>
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</geometry>
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</collision>
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</link>
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<link name="childA">
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<inertial>
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<origin rpy="0 0 0" xyz="0 1 -1"/>
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<mass value="10.0"/>
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<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
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</inertial>
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<visual>
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<origin rpy="0 0 0" xyz="0 1 -1"/>
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<geometry>
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<box size="0.1 .1 .1"/>
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</geometry>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 1 -1"/>
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<geometry>
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<box size="0.1 .1 .1"/>
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</geometry>
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</collision>
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</link>
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<joint name="joint_baseLink_childA" type="prismatic">
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<parent link="baseLink"/>
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<child link="childA"/>
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<origin xyz="0 0 1.0"/>
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<axis xyz="0 0 1"/>
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<limit lower="-0.1" upper="0.2" />
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</joint>
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</robot>
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