mirror of
https://github.com/elephantrobotics/mycobot_ros.git
synced 2026-07-05 19:47:04 +00:00
250 lines
9.9 KiB
XML
250 lines
9.9 KiB
XML
<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
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<xacro:property name="width" value=".2" />
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<link name="base">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
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</geometry>
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<origin xyz="0 0 0 " rpy=" 1.5707 0 0" />
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</visual>
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<collision>
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<origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
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<geometry>
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<cylinder length="0.08" radius="0.06" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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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://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
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</geometry>
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<origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" />
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</visual>
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<collision>
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<origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
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<geometry>
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<cylinder length="0.06" radius="0.03" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link2">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
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</geometry>
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<origin xyz="0 0 -0.0446 " rpy=" 0 -1.5707 -1.5707" />
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</visual>
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<collision>
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<origin xyz="0.14 0 -0.08 " rpy=" 0 1.5708 0" />
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<geometry>
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<cylinder length="0.28" radius="0.028" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link3">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
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</geometry>
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<origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 -1.5707" />
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</visual>
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<collision>
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<origin xyz="0.13 0.0 0.02 " rpy="0 1.5708 0" />
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<geometry>
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<cylinder length="0.28" radius="0.024" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link4">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
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</geometry>
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<origin xyz="0 0 0.041 " rpy=" -1.5707 0 1.5707" />
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</visual>
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<collision>
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<origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
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<geometry>
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<cylinder length="0.05" radius="0.024" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link5">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
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</geometry>
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<origin xyz="-0.043 0 0 " rpy=" 0 -1.5707 3.1415926" />
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</visual>
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<collision>
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<origin xyz="0.0 0.0 -0.015 " rpy=" 0 0 -1.5708" />
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<geometry>
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<cylinder length="0.05" radius="0.028" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<link name="link6">
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<visual>
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<geometry>
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<mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
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</geometry>
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<!-- <material name = "grey">
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<color rgba = "0.5 0.5 0.5 1"/>
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</material> -->
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<origin xyz="0.01 0 0" rpy=" 0 1.5707 0" />
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</visual>
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<collision>
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<origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
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<geometry>
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<cylinder length="0.006" radius="0.026" />
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</geometry>
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</collision>
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<inertial>
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<mass value="0.1" />
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<origin xyz="0 0 0" rpy="0 0 0" />
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<inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
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</inertial>
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</link>
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<joint name="joint1_to_base" type="revolute">
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<axis xyz="0 0 1" />
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<limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
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<parent link="base" />
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<child link="link1" />
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<origin xyz="0 0 0.22934" rpy="0 0 0" />
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</joint>
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<joint name="joint2_to_joint1" type="revolute">
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<axis xyz="0 0 -1" />
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<!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
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<limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
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<parent link="link1" />
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<child link="link2" />
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<origin xyz="0 0 0" rpy="1.5707 -1.5708 0" />
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</joint>
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<joint name="joint3_to_joint2" type="revolute">
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<axis xyz=" 0 0 -1" />
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<limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
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<parent link="link2" />
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<child link="link3" />
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<origin xyz="0.27 0 0 " rpy="0 0 0" />
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</joint>
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<joint name="joint4_to_joint3" type="revolute">
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<axis xyz=" 0 0 -1" />
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<!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
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<limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
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<parent link="link3" />
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<child link="link4" />
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<origin xyz="0.267 0 -0.0745" rpy="0 0 1.5708" />
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</joint>
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<joint name="joint5_to_joint4" type="revolute">
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<axis xyz="0 0 1" />
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<limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
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<parent link="link4" />
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<child link="link5" />
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<origin xyz="0 -0.095 0.002" rpy="1.5707 -1.5707 0" />
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</joint>
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<joint name="joint6_to_joint5" type="revolute">
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<axis xyz="-1 0 0" />
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<limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
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<parent link="link5" />
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<child link="link6" />
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<origin xyz="-0.054 0 0" rpy="-1.5707 0 0 " />
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</joint>
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<transmission name="trans_joint1_to_base">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint1_to_base">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint1_to_base_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint2_to_joint1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint2_to_joint1">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint2_to_joint1_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint3_to_joint2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint3_to_joint2">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint3_to_joint2_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint4_to_joint3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint4_to_joint3">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint4_to_joint3_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint5_to_joint4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint5_to_joint4">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint5_to_joint4_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="trans_joint6_to_joint5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint6_to_joint5">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint6_to_joint5_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo>
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<plugin name="gazebo_ros_control">
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<robotNamespace>/</robotNamespace>
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</plugin>
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</gazebo>
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</robot>
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