增加URDF文件注册测试入口
This commit is contained in:
zhangshun
309
docs/urdf.xml
Normal file
309
docs/urdf.xml
Normal file
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<robot
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xmlns:xacro="http://ros.org/wiki/xacro" name="ABB_IRB_120" uuid="8bc48ac0-6570-4232-aa91-3367771c1069">
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||||||
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<link name="base_link" uuid="9c88ec70-a337-4d16-94c5-92ccff72c1a5">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_1.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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||||||
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</material>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_1.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<link name="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_2.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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||||||
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</material>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_2.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<link name="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_3.stl"/>
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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||||||
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</material>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_3.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<link name="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb">
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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||||||
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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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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_4.stl"/>
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</geometry>
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_4.stl"/>
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<link name="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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</inertial>
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||||||
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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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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_5.stl"/>
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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</material>
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<geometry>
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_5.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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</collision>
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||||||
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</link>
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||||||
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<link name="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_6.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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||||||
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</material>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_6.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<link name="link_6" uuid="4d20b9a3-23a5-48d8-bed6-b50439da66c0">
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||||||
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<inertial>
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||||||
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<mass value="1.0"/>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
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||||||
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</inertial>
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||||||
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<visual>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/visual/link_7.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="0.7372549 0.3490196 0.1607843 1"/>
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||||||
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</material>
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||||||
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</visual>
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||||||
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<collision>
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||||||
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<origin rpy="0 0 0" xyz="0 0 0"/>
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||||||
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<geometry>
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||||||
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<mesh filename="package://abb_irb120_support/meshes/irb120_3_58/collision/link_7.stl"/>
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||||||
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</geometry>
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||||||
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<material name="">
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||||||
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<color rgba="1 1 0 1"/>
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||||||
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</material>
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||||||
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</collision>
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||||||
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</link>
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||||||
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<joint name="joint_1" innerId="D0F7B07F-0438-4392-B775-42512D10BBD4" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
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||||||
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<parent link="base_link" uuid="9c88ec70-a337-4d16-94c5-92ccff72c1a5"/>
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||||||
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<child link="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4"/>
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||||||
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<axis xyz="0 0 1"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<joint name="joint_2" innerId="3D80EDAC-92C7-492C-91FD-8108A298E175" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.290000"/>
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||||||
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<parent link="link_1" uuid="09059ca4-6c99-4a5f-a474-8ba964e612c4"/>
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||||||
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<child link="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91"/>
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||||||
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<axis xyz="1 0 0"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<joint name="joint_3" innerId="0A098978-9EAC-4F7B-B8DB-A1FFF640B6FF" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.270000"/>
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||||||
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<parent link="link_2" uuid="3f38944a-9e19-4aba-a46e-2cc2d2611b91"/>
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||||||
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<child link="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb"/>
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||||||
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<axis xyz="1 0 0"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<joint name="joint_4" innerId="823DDDE0-DBFA-4F5E-B3A6-9A87C06C8DB9" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.134000 0.070000"/>
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||||||
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<parent link="link_3" uuid="801f8e99-88d8-4a92-b848-3c573c5e6ddb"/>
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||||||
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<child link="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb"/>
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||||||
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<axis xyz="0 1 0"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<joint name="joint_5" innerId="A3DD936A-C88D-4267-8926-1C29C144D52E" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.168000 0.000000"/>
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||||||
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<parent link="link_4" uuid="c0146e6e-b9c7-4ada-9e96-b7bb141f6feb"/>
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||||||
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<child link="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177"/>
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||||||
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<axis xyz="1 0 0"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<joint name="joint_6" innerId="85949D90-0C7B-463A-A18D-281A71FA4C19" type="revolute">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 -0.072000 0.000000"/>
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||||||
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<parent link="link_5" uuid="5a650225-e5cf-44ae-b2fc-aad215668177"/>
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||||||
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<child link="link_6" uuid="4d20b9a3-23a5-48d8-bed6-b50439da66c0"/>
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||||||
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<axis xyz="0 1 0"/>
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||||||
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<limit effort="0" lower="-6.283185" upper="6.283185" velocity="1.570796"/>
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||||||
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<dynamics damping="0.0" friction="0.0"/>
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||||||
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</joint>
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||||||
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<link name="base" uuidBase="f25bddf0-6533-448a-a1f5-b1ebbabe7d3c"/>
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||||||
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<joint name="base_link-base" type="fixed">
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||||||
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<origin xyz="0.000000 0.000000 0.000000" rpy="0.000000 0.000000 0.000000"/>
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||||||
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<parent link="base"/>
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||||||
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<child link="base_link"/>
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||||||
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</joint>
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||||||
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<link name="flange"/>
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||||||
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<joint name="joint_6-flange" type="fixed">
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||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
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||||||
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<parent link="link_6"/>
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||||||
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<child link="flange"/>
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||||||
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</joint>
|
||||||
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<link name="tool0" uuidTool="5272238a-a622-412b-aa83-3e748fe57798"/>
|
||||||
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<joint name="link_6-tool0" type="fixed">
|
||||||
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<origin rpy="0.000000 0.000000 0.000000" xyz="0.000000 0.000000 0.000000"/>
|
||||||
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<parent link="flange"/>
|
||||||
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<child link="tool0"/>
|
||||||
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</joint>
|
||||||
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<transmission name="joint_1">
|
||||||
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<type>transmission_interface/SimpleTransmission</type>
|
||||||
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<joint>
|
||||||
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
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</joint>
|
||||||
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<actuator name="joint_1_motor">
|
||||||
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<hardwareInterface>1</hardwareInterface>
|
||||||
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<mechanicalReduction/>
|
||||||
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</actuator>
|
||||||
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</transmission>
|
||||||
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<transmission name="joint_2">
|
||||||
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<type>transmission_interface/SimpleTransmission</type>
|
||||||
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<joint>
|
||||||
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
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</joint>
|
||||||
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<actuator name="joint_2_motor">
|
||||||
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<hardwareInterface>1</hardwareInterface>
|
||||||
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<mechanicalReduction/>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="joint_3">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint>
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="joint_3_motor">
|
||||||
|
<hardwareInterface>1</hardwareInterface>
|
||||||
|
<mechanicalReduction/>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="joint_4">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint>
|
||||||
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="joint_4_motor">
|
||||||
|
<hardwareInterface>1</hardwareInterface>
|
||||||
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<mechanicalReduction/>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="joint_5">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint>
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="joint_5_motor">
|
||||||
|
<hardwareInterface>1</hardwareInterface>
|
||||||
|
<mechanicalReduction/>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<transmission name="joint_6">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<joint>
|
||||||
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
<actuator name="joint_6_motor">
|
||||||
|
<hardwareInterface>1</hardwareInterface>
|
||||||
|
<mechanicalReduction/>
|
||||||
|
</actuator>
|
||||||
|
</transmission>
|
||||||
|
<gazebo>
|
||||||
|
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
|
||||||
|
<robotNamespace>/</robotNamespace>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
</robot>
|
||||||
@@ -382,9 +382,16 @@
|
|||||||
<label for="robot-uuid">robot_uuid</label>
|
<label for="robot-uuid">robot_uuid</label>
|
||||||
<input id="robot-uuid" value="abb_irb120_3_58" />
|
<input id="robot-uuid" value="abb_irb120_3_58" />
|
||||||
</div>
|
</div>
|
||||||
|
<div class="field full">
|
||||||
|
<label for="urdf-file">URDF 文件</label>
|
||||||
|
<input id="urdf-file" type="file" accept=".xml,.urdf" />
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div class="actions">
|
<div class="actions">
|
||||||
<button id="init-btn" type="button">初始化</button>
|
<button id="init-btn" type="button">初始化</button>
|
||||||
|
<button id="register-urdf-btn" class="secondary" type="button">
|
||||||
|
注册 URDF
|
||||||
|
</button>
|
||||||
<button id="reset-btn" class="secondary" type="button">零位</button>
|
<button id="reset-btn" class="secondary" type="button">零位</button>
|
||||||
</div>
|
</div>
|
||||||
</section>
|
</section>
|
||||||
@@ -507,6 +514,7 @@
|
|||||||
wasmStatus: document.getElementById("wasm-status"),
|
wasmStatus: document.getElementById("wasm-status"),
|
||||||
solverStatus: document.getElementById("solver-status"),
|
solverStatus: document.getElementById("solver-status"),
|
||||||
robotUuid: document.getElementById("robot-uuid"),
|
robotUuid: document.getElementById("robot-uuid"),
|
||||||
|
urdfFile: document.getElementById("urdf-file"),
|
||||||
jointControls: document.getElementById("joint-controls"),
|
jointControls: document.getElementById("joint-controls"),
|
||||||
requestJson: document.getElementById("request-json"),
|
requestJson: document.getElementById("request-json"),
|
||||||
responseJson: document.getElementById("response-json"),
|
responseJson: document.getElementById("response-json"),
|
||||||
@@ -521,6 +529,7 @@
|
|||||||
jointCountValue: document.getElementById("joint-count-value"),
|
jointCountValue: document.getElementById("joint-count-value"),
|
||||||
toast: document.getElementById("toast"),
|
toast: document.getElementById("toast"),
|
||||||
initBtn: document.getElementById("init-btn"),
|
initBtn: document.getElementById("init-btn"),
|
||||||
|
registerUrdfBtn: document.getElementById("register-urdf-btn"),
|
||||||
resetBtn: document.getElementById("reset-btn"),
|
resetBtn: document.getElementById("reset-btn"),
|
||||||
fkBtn: document.getElementById("fk-btn"),
|
fkBtn: document.getElementById("fk-btn"),
|
||||||
ikBtn: document.getElementById("ik-btn"),
|
ikBtn: document.getElementById("ik-btn"),
|
||||||
@@ -756,6 +765,67 @@
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// 读取本地 URDF 文件并注册为当前 robot_uuid。
|
||||||
|
async function registerUrdfFromFile() {
|
||||||
|
await ensureInitialized();
|
||||||
|
const file = elements.urdfFile.files?.[0];
|
||||||
|
const robotUuid = elements.robotUuid.value.trim();
|
||||||
|
|
||||||
|
if (!file) {
|
||||||
|
showToast("请选择 URDF 文件");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!robotUuid) {
|
||||||
|
showToast("请先填写 robot_uuid");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
setBusy(true, "正在注册 URDF");
|
||||||
|
try {
|
||||||
|
const urdfText = await file.text();
|
||||||
|
const request = {
|
||||||
|
msg: "threejs init robot from urdf",
|
||||||
|
req_code: `THREE_INIT_URDF_${Date.now()}`,
|
||||||
|
req_from: "threejs_test",
|
||||||
|
req_cmd: "Cmd_InitRobot",
|
||||||
|
req_param: {
|
||||||
|
robot_uuid: robotUuid,
|
||||||
|
force_update: true,
|
||||||
|
urdf_base64: encodeUtf8Base64(urdfText),
|
||||||
|
},
|
||||||
|
};
|
||||||
|
|
||||||
|
renderJson(request, null);
|
||||||
|
const response = await api.processBusinessRequest(request);
|
||||||
|
renderJson(request, response);
|
||||||
|
|
||||||
|
if (response.success && response.res_data?.success) {
|
||||||
|
state.latestIkJoints = null;
|
||||||
|
elements.applyIkBtn.disabled = true;
|
||||||
|
setStatus("URDF 注册完成", true);
|
||||||
|
await runForwardKinematics();
|
||||||
|
} else {
|
||||||
|
setStatus("URDF 注册失败", false);
|
||||||
|
showToast(response.res_data?.message || response.msg || "URDF 注册失败");
|
||||||
|
}
|
||||||
|
} catch (error) {
|
||||||
|
showError(error);
|
||||||
|
} finally {
|
||||||
|
setBusy(false);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// 将 URDF 文本编码成接口需要的 UTF-8 Base64 字符串。
|
||||||
|
function encodeUtf8Base64(value) {
|
||||||
|
const bytes = new TextEncoder().encode(value);
|
||||||
|
let binary = "";
|
||||||
|
bytes.forEach((byte) => {
|
||||||
|
binary += String.fromCharCode(byte);
|
||||||
|
});
|
||||||
|
return btoa(binary);
|
||||||
|
}
|
||||||
|
|
||||||
// 确保调用算法前已经完成初始化。
|
// 确保调用算法前已经完成初始化。
|
||||||
async function ensureInitialized() {
|
async function ensureInitialized() {
|
||||||
if (!state.initialized) {
|
if (!state.initialized) {
|
||||||
@@ -1029,6 +1099,7 @@
|
|||||||
function setBusy(isBusy, label) {
|
function setBusy(isBusy, label) {
|
||||||
[
|
[
|
||||||
elements.initBtn,
|
elements.initBtn,
|
||||||
|
elements.registerUrdfBtn,
|
||||||
elements.resetBtn,
|
elements.resetBtn,
|
||||||
elements.fkBtn,
|
elements.fkBtn,
|
||||||
elements.ikBtn,
|
elements.ikBtn,
|
||||||
@@ -1095,6 +1166,7 @@
|
|||||||
}
|
}
|
||||||
|
|
||||||
elements.initBtn.addEventListener("click", initializeWasm);
|
elements.initBtn.addEventListener("click", initializeWasm);
|
||||||
|
elements.registerUrdfBtn.addEventListener("click", registerUrdfFromFile);
|
||||||
elements.resetBtn.addEventListener("click", resetJoints);
|
elements.resetBtn.addEventListener("click", resetJoints);
|
||||||
elements.fkBtn.addEventListener("click", runForwardKinematics);
|
elements.fkBtn.addEventListener("click", runForwardKinematics);
|
||||||
elements.ikBtn.addEventListener("click", runInverseKinematics);
|
elements.ikBtn.addEventListener("click", runInverseKinematics);
|
||||||
|
|||||||
Reference in New Issue
Block a user