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https://github.com/bulletphysics/bullet3
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Create URDF for white xarm
This commit is contained in:
Ayzaan Wahid
GitHub
parent
0e124cb2f1
commit
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317
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf
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317
examples/pybullet/gym/pybullet_data/xarm/xarm6_robot_white.urdf
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<?xml version="1.0" encoding="utf-8"?>
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<!-- =================================================================================== -->
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<!-- | This document was autogenerated by xacro from xarm6_robot.urdf.xacro | -->
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<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
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<!-- =================================================================================== -->
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<robot name="xarm6">
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<!--
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Author: Jason Peng <jason@ufactory.cc>
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Contributers:
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-->
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<gazebo>
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<plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
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<robotNamespace>/xarm</robotNamespace>
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<!-- <controlPeriod>0.0001</controlPeriod> -->
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<legacyModeNS>true</legacyModeNS>
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<!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
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</plugin>
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</gazebo>
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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="link_base"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</joint>
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<material name="Black">
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<color rgba="0.0 0.0 0.0 1.0"/>
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</material>
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<material name="Red">
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<color rgba="0.85 0.19 0.21 1.0"/>
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</material>
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<material name="Blue">
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<color rgba="0.28 0.52 0.92 1.0"/>
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</material>
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<material name="Green">
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<color rgba="0.23 0.72 0.32 1.0"/>
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</material>
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<material name="Yellow">
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<color rgba="0.95 0.76 0.05 1.0"/>
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</material>
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<material name="White">
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<color rgba="1.0 1.0 1.0 1.0"/>
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</material>
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<material name="Silver">
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<color rgba="0.753 0.753 0.753 1.0"/>
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</material>
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<link name="link_base">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/base_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
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<mass value="2.7"/>
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<inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
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</inertial>
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</link>
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<link name="link1">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link1_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
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<mass value="2.16"/>
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<inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
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</inertial>
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</link>
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<joint name="joint1" type="revolute">
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<parent link="link_base"/>
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<child link="link1"/>
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<origin rpy="0 0 0" xyz="0 0 0.267"/>
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<axis xyz="0 0 1"/>
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<limit effort="50.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link2_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
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<mass value="1.71"/>
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<inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
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</inertial>
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</link>
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<joint name="joint2" type="revolute">
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<parent link="link1"/>
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<child link="link2"/>
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<origin rpy="-1.5708 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link3">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link3_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
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<mass value="1.384"/>
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<inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
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</inertial>
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</link>
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<joint name="joint3" type="revolute">
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<parent link="link2"/>
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<child link="link3"/>
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<origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link4_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
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<mass value="1.115"/>
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<inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
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</inertial>
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</link>
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<joint name="joint4" type="revolute">
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<parent link="link3"/>
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<child link="link4"/>
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<origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link5">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="White"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link5_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
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<mass value="1.275"/>
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<inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
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</inertial>
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</link>
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<joint name="joint5" type="revolute">
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<parent link="link4"/>
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<child link="link5"/>
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<origin rpy="1.5708 0 0" xyz="0 0 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="32.0" lower="-1.69297" upper="3.14159265359" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<link name="link6">
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<visual>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<material name="Silver"/>
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</visual>
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<collision>
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<geometry>
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<mesh filename="package://xarm_description/meshes/xarm6/collision/link6_vhacd.obj"/>
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</geometry>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</collision>
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<inertial>
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<origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
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<mass value="0.1096"/>
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<inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
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</inertial>
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</link>
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<joint name="joint6" type="revolute">
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<parent link="link5"/>
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<child link="link6"/>
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<origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
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<axis xyz="0 0 1"/>
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<limit effort="20.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
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<dynamics damping="1.0" friction="1.0"/>
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</joint>
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<transmission name="tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>100</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor2">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>reduction</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>reduction</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint4">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor3">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>reduction</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint5">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor5">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>reduction</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="tran6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint6">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="motor6">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>reduction</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo reference="link_base">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link1">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link2">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link3">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link4">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link5">
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<selfCollide>true</selfCollide>
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</gazebo>
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<gazebo reference="link6">
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<selfCollide>true</selfCollide>
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</gazebo>
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</robot>
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