remove old ros description package
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19 changed files with 0 additions and 2161 deletions
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cmake_minimum_required(VERSION 2.8.3)
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project(_grip_tool)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(roslaunch)
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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controller_joint_names: ['', 'grip_rot', 'open_1', 'open_2', ]
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<launch>
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<arg
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name="model" />
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<param
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name="robot_description"
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textfile="$(find _grip_tool)/urdf/_grip_tool.urdf" />
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<node
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name="joint_state_publisher_gui"
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pkg="joint_state_publisher_gui"
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type="joint_state_publisher_gui" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="robot_state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find _grip_tool)/urdf.rviz" />
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</launch>
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<launch>
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<include
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file="$(find gazebo_ros)/launch/empty_world.launch" />
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<node
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name="tf_footprint_base"
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pkg="tf"
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type="static_transform_publisher"
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args="0 0 0 0 0 0 base_link base_footprint 40" />
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<node
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name="spawn_model"
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pkg="gazebo_ros"
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type="spawn_model"
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args="-file $(find _grip_tool)/urdf/_grip_tool.urdf -urdf -model _grip_tool"
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output="screen" />
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<node
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name="fake_joint_calibration"
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pkg="rostopic"
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type="rostopic"
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args="pub /calibrated std_msgs/Bool true" />
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</launch>
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<package format="2">
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<name>_grip_tool</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for _grip_tool</p>
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<p>This package contains configuration data, 3D models and launch files
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for _grip_tool robot</p>
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</description>
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<author>TODO</author>
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<maintainer email="TODO@email.com" />
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roslaunch</depend>
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<depend>robot_state_publisher</depend>
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<depend>rviz</depend>
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<depend>joint_state_publisher_gui</depend>
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<depend>gazebo</depend>
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<export>
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<architecture_independent />
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</export>
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</package>
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="_grip_tool">
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<link
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name="Grip_Base">
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<inertial>
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<origin
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xyz="0.000364704367134063 0.0336387482840125 0.0593891203954369"
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rpy="0 0 0" />
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<mass
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value="1.13983632906086" />
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<inertia
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ixx="0.00107738806534129"
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ixy="-1.09841172461737E-05"
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ixz="2.62750043451545E-06"
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iyy="0.000717388573992299"
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iyz="-2.95426438182787E-05"
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izz="0.00115777179755934" />
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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://_grip_tool/meshes/Grip_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="0.752941176470588 0.752941176470588 0.752941176470588 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://_grip_tool/meshes/Grip_Base.STL" />
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</geometry>
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</collision>
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</link>
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<link
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name="Grip_Rotator">
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<inertial>
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<origin
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xyz="6.79110135283868E-11 -3.80956832067611E-10 0.00775394473595793"
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rpy="0 0 0" />
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<mass
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value="0.161003401535982" />
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<inertia
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ixx="0.00011089089949771"
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ixy="5.01335040610636E-06"
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ixz="1.74608448389267E-14"
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iyy="0.000105515893695012"
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iyz="-2.03282362854432E-14"
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izz="0.000206912001661452" />
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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://_grip_tool/meshes/Grip_Rotator.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="0.250980392156863 0.250980392156863 0.250980392156863 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://_grip_tool/meshes/Grip_Rotator.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="grip_rot"
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type="revolute">
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<origin
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xyz="0 0 0.10861"
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rpy="0 0 0" />
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<parent
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link="Grip_Base" />
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<child
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link="Grip_Rotator" />
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<axis
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xyz="0 0 1" />
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<limit
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lower="0"
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upper="0"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Gripper_1">
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<inertial>
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<origin
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xyz="0.00399878118534129 0.0187296413885176 -0.0777776233934166"
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rpy="0 0 0" />
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<mass
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value="0.0601996441483964" />
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<inertia
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ixx="4.18533281165612E-05"
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ixy="-7.11657995951147E-06"
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ixz="1.81029223490065E-05"
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iyy="7.89886367868258E-05"
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iyz="1.20542845942065E-05"
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izz="5.16740841307935E-05" />
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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://_grip_tool/meshes/Gripper_1.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="0.752941176470588 0 0 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://_grip_tool/meshes/Gripper_1.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="open_1"
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type="prismatic">
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<origin
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xyz="0 0 0.1071"
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rpy="0 0 1.5708" />
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<parent
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link="Grip_Rotator" />
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<child
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link="Gripper_1" />
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<axis
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xyz="-1 0 0" />
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<limit
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lower="0"
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upper="0.064"
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effort="0"
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velocity="0" />
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</joint>
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<link
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name="Gripper_2">
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<inertial>
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<origin
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xyz="0.0039988 -0.077778 -0.01873"
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rpy="0 0 0" />
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<mass
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value="0.0602" />
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<inertia
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ixx="4.1853E-05"
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ixy="1.8103E-05"
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ixz="7.1166E-06"
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iyy="5.1674E-05"
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iyz="-1.2054E-05"
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izz="7.8989E-05" />
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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://_grip_tool/meshes/Gripper_2.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="0.75294 0 0 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://_grip_tool/meshes/Gripper_2.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="open_2"
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type="prismatic">
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<origin
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xyz="0 0 0.1071"
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rpy="1.5708 0 -1.5708" />
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<parent
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link="Grip_Rotator" />
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<child
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link="Gripper_2" />
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<axis
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xyz="-1 0 0" />
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<limit
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lower="0"
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upper="0.064"
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effort="0"
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velocity="0" />
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</joint>
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</robot>
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