<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from mh5.xacro                      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="motoman_mh5" xmlns:xacro="http://ros.org/wiki/xacro">
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        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_BASE_AXIS.stl"/>
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        <color rgba="0 0 1 1"/>
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      <geometry>
        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_BASE_AXIS.stl"/>
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      <material name="yellow">
        <color rgba="0 1 1 1"/>
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  <link name="link_s">
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      <geometry>
        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_S_AXIS.stl"/>
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        <color rgba="0.8 0.8 0.8 1"/>
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      <geometry>
        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_S_AXIS.stl"/>
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      <material name="yellow"/>
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    <visual>
      <!-- <origin rpy="1.57 3.1416 0" xyz="0 0 0"/> -->
      <geometry>
        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_L_AXIS.stl"/>
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      <material name="blue"/>
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    <collision>
      <!-- <origin rpy="1.57 3.1416 0" xyz="0 0 0"/> -->
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  <link name="link_u">
    <visual>
      <!-- <origin rpy="1.57 -3.1415 0" xyz="0 0 0"/> -->
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        <mesh filename="package://motoman_mh5_support/meshes/mh5/visual/MH5_U_AXIS.stl"/>
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      <material name="blue"/>
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    <collision>
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        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_R_AXIS.stl"/>
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      <material name="yellow"/>
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        <mesh filename="package://motoman_mh5_support/meshes/mh5/collision/MH5_T_AXIS.stl"/>
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      <material name="yellow"/>
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    <axis xyz="0 0 1"/>
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  <joint name="joint_l" type="revolute">
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    <child link="link_l"/>
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  <joint name="joint_u" type="revolute">
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    <child link="link_u"/>
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    <axis xyz="0 -1 0"/>
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  <joint name="joint_r" type="revolute">
    <parent link="link_u"/>
    <child link="link_r"/>
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  <joint name="joint_b" type="revolute">
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    <child link="link_b"/>
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    <axis xyz="0 -1 0"/>
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  <joint name="joint_t" type="revolute">
    <parent link="link_b"/>
    <child link="link_t"/>
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    <axis xyz="-1 0 0"/>
    <limit effort="100" lower="-6.2831" upper="6.2831" velocity="6.97"/>
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</robot>
