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283 lines
6.4 KiB
283 lines
6.4 KiB
<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="stretch_aruco">
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<link
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name="link_aruco_right_base">
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<inertial>
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<origin
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xyz="1.3878E-17 0 -0.000125"
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rpy="0 0 0" />
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<mass
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value="3.59999999990368E-06" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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://stretch_description/meshes/link_aruco_right_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="0.792156862745098 0.819607843137255 0.933333333333333 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://stretch_description/meshes/link_aruco_right_base.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="joint_aruco_right_base"
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type="fixed">
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<origin
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xyz="-0.0015028 -0.1304972 0.1597482"
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rpy="0 0 -1.5707963267949" />
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<parent
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link="base_link" />
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<child
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link="link_aruco_right_base" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_aruco_left_base">
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<inertial>
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<origin
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xyz="2.7756E-17 0 -0.000125"
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rpy="0 0 0" />
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<mass
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value="3.59999999990368E-06" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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://stretch_description/meshes/link_aruco_left_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="0.792156862745098 0.819607843137255 0.933333333333333 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://stretch_description/meshes/link_aruco_left_base.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="joint_aruco_left_base"
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type="fixed">
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<origin
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xyz="-0.00500000000000014 0.1304972 0.1597482"
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rpy="0 0 -1.5707963267949" />
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<parent
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link="base_link" />
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<child
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link="link_aruco_left_base" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_aruco_shoulder">
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<inertial>
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<origin
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xyz="-2.77555756156289E-17 2.56739074444567E-16 -0.000125000000000042"
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rpy="0 0 0" />
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<mass
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value="0" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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://stretch_description/meshes/link_aruco_shoulder.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="0.792156862745098 0.819607843137255 0.933333333333333 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://stretch_description/meshes/link_aruco_shoulder.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="joint_aruco_shoulder"
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type="fixed">
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<origin
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xyz="-0.0133768876375287 0.0558540528812078 0.0861368272417975"
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rpy="-1.53998860117704E-29 3.55962409571165E-15 0.0" />
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<parent
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link="link_lift" />
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<child
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link="link_aruco_shoulder" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_aruco_top_wrist">
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<inertial>
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<origin
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xyz="-1.3531E-15 -3.4972E-15 -0.000125"
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rpy="0 0 0" />
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<mass
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value="0" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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://stretch_description/meshes/link_aruco_top_wrist.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="0.792156862745098 0.819607843137255 0.933333333333333 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://stretch_description/meshes/link_aruco_top_wrist.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="joint_aruco_top_wrist"
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type="fixed">
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<origin
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xyz="0.0472500000000019 0.0292850000000015 0"
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rpy="1.5707963267949 -8.03728587323464E-15 3.14159265358979" />
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<parent
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link="link_arm_l0" />
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<child
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link="link_aruco_top_wrist" />
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<axis
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xyz="0 0 0" />
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</joint>
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<link
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name="link_aruco_inner_wrist">
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<inertial>
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<origin
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xyz="8.32667268468867E-17 1.77635683940025E-15 -0.000125000000000264"
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rpy="0 0 0" />
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<mass
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value="0" />
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<inertia
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ixx="0"
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ixy="0"
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ixz="0"
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iyy="0"
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iyz="0"
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izz="0" />
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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://stretch_description/meshes/link_aruco_inner_wrist.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="0.792156862745098 0.819607843137255 0.933333333333333 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://stretch_description/meshes/link_aruco_inner_wrist.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="joint_aruco_inner_wrist"
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type="fixed">
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<origin
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xyz="0.0472499999999947 -0.0119000000000034 -0.0272499999991938"
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rpy="3.14159265358979 4.23377442363088E-14 3.14159265358979" />
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<parent
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link="link_arm_l0" />
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<child
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link="link_aruco_inner_wrist" />
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<axis
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xyz="0 0 0" />
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</joint>
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</robot>
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