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erwincoumanserwincoumans
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add optimized tray/traybox.urdf
1 parent 63486a7 commit 65deeee

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3 files changed

+275
-0
lines changed

3 files changed

+275
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lines changed

‎data/tray/tray_textured.mtl

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# Blender MTL File: 'None'
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# Material Count: 1
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newmtl None
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Ns 0.000000
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Ka 0.000000 0.000000 0.000000
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Kd 0.800000 0.800000 0.800000
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Ks 0.800000 0.800000 0.800000
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Ke 0.000000 0.000000 0.000000
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Ni 1.000000
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d 1.000000
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illum 2
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map_Kd tray.jpg

‎data/tray/tray_textured.obj

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# Blender v2.78 (sub 0) OBJ File: ''
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# www.blender.org
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mtllib tray_textured.mtl
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o edge_4_Cube.001
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v -0.573309 0.580000 0.261247
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v -0.426691 0.419400 -0.002214
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v -0.573309 -0.580000 0.261247
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v -0.590083 -0.580000 0.250354
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v -0.426691 -0.419400 -0.001731
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vt 0.9046 0.2397
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vt 0.9174 0.2393
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vt 0.9537 0.7559
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vt 0.7801 0.2438
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vt 0.9664 0.7554
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vt 0.8291 0.7599
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vt 0.8419 0.7595
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vn 0.2565 0.8821 -0.3950
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vn 0.8392 0.0002 0.5438
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vn -0.8392 -0.0000 -0.5438
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vn 0.5446 -0.0005 -0.8387
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vn -0.5446 -0.0000 0.8387
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vn 0.8391 0.0003 0.5440
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vn -0.8397 -0.0003 -0.5430
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usemtl None
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s 1
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f 4/4/2 5/5/3 1/1/4
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f 4/4/10 1/1/10 3/3/10
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v -0.580000 0.573309 0.261247
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v 0.420014 0.409917 0.009834
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vt 0.8346 0.9187
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vt 0.2203 0.8574
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vt 0.1480 0.9187
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vt 0.8346 0.9129
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vt 0.7623 0.8574
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vt 0.1480 0.9129
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vt 0.7623 0.8511
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vt 0.2203 0.8511
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vn 0.0004 0.8386 -0.5448
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vn 0.0001 0.8391 -0.5439
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vn 0.0000 0.8393 -0.5437
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vn 0.8823 -0.2564 -0.3948
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vn -0.0004 -0.8392 0.5439
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vn -0.0001 -0.8386 0.5447
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vn 0.0000 -0.8385 0.5449
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vn -0.8826 -0.2560 -0.3942
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vn 0.0008 -0.5446 -0.8387
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vn 0.0000 0.5446 0.8387
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vn 0.0005 0.8383 -0.5452
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vn -0.0005 -0.8394 0.5435
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usemtl None
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s 1
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f 12/12/16 13/13/16 9/9/16
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f 14/14/17 15/15/18 12/12/19
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f 11/11/20 16/16/20 14/14/20
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f 13/13/21 16/16/21 10/10/21
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f 12/12/22 11/11/22 14/14/22
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f 9/9/13 13/13/23 10/10/14
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f 12/12/16 15/15/16 13/13/16
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f 14/14/17 16/16/24 15/15/18
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f 11/11/20 10/10/20 16/16/20
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f 13/13/21 15/15/21 16/16/21
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f 12/12/22 9/9/22 11/11/22
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o edge_2_Cube
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vt 0.8896 0.1426
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vn -0.2561 0.8826 -0.3943
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vn 0.8394 0.0003 -0.5435
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vn -0.8390 -0.0003 0.5441
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vn -0.8394 -0.0001 0.5436
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vn -0.5446 0.0005 -0.8387
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vn 0.5446 -0.0000 0.8387
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vn 0.8396 0.0004 -0.5433
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vn -0.8388 -0.0004 0.5444
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usemtl None
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s 1
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f 17/17/25 18/18/25 19/19/25
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f 20/20/26 21/21/27 17/17/28
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f 22/22/29 23/23/29 20/20/29
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f 19/19/30 24/24/31 22/22/32
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f 21/21/33 24/24/33 18/18/33
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f 20/20/34 19/19/34 22/22/34
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f 17/17/25 21/21/25 18/18/25
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f 20/20/26 23/23/35 21/21/27
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f 22/22/29 24/24/29 23/23/29
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f 19/19/30 18/18/36 24/24/31
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f 21/21/33 23/23/33 24/24/33
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f 20/20/34 17/17/34 19/19/34
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o base_Cube.004
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v 0.420000 0.420000 0.010000
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v -0.420000 0.420000 -0.010000
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v -0.420000 0.420000 0.010000
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v 0.420000 -0.420000 0.010000
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v 0.420000 0.420000 -0.010000
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v -0.420000 -0.420000 0.010000
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v 0.420000 -0.420000 -0.010000
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v -0.420000 -0.420000 -0.010000
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vt 0.7524 0.8072
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vt -0.3038 0.8371
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vt -0.3038 0.8371
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vt 0.7012 0.1905
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vt 0.7524 0.8072
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vt -0.3550 0.2204
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vt 0.7012 0.1905
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vt -0.3550 0.2204
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vn 0.0000 1.0000 0.0000
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vn 0.0000 -1.0000 0.0000
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vn -1.0000 -0.0000 0.0000
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vn 0.0000 0.0000 -1.0000
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vn 0.0000 -0.0000 1.0000
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usemtl None
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s 1
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f 25/25/37 26/26/37 27/27/37
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f 28/28/38 29/29/38 25/25/38
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f 30/30/39 31/31/39 28/28/39
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f 28/28/42 27/27/42 30/30/42
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f 30/30/39 32/32/39 31/31/39
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f 27/27/40 26/26/40 32/32/40
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f 29/29/41 31/31/41 32/32/41
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f 28/28/42 25/25/42 27/27/42
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o edge_3_Cube.002
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v 0.580000 -0.573309 0.261247
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v -0.419400 -0.409917 0.008678
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v -0.580000 -0.590083 0.250354
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vt 0.8690 0.1040
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vt 0.1365 0.1739
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vt 0.0188 0.1040
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vt 0.8690 0.0968
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vt 0.0188 0.0968
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vt 0.7517 0.1668
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vt 0.1365 0.1668
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vn -0.0002 0.8392 0.5438
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vn -0.0000 0.8395 0.5433
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vn 0.0000 0.8396 0.5432
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vn 0.8825 0.2562 -0.3945
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vn 0.0002 -0.8396 -0.5433
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vn 0.0000 -0.8392 -0.5438
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vn 0.0000 -0.8391 -0.5439
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vn -0.8821 0.2565 -0.3950
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vn 0.0005 0.5446 -0.8387
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vn 0.0000 -0.5446 0.8387
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vn -0.0003 0.8391 0.5440
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vn 0.0003 -0.8397 -0.5430
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usemtl None
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s 1
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f 33/33/43 34/34/44 35/35/45
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f 36/36/46 37/37/46 33/33/46
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f 38/38/47 39/39/48 36/36/49
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f 37/37/52 40/40/52 34/34/52
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f 36/36/53 35/35/53 38/38/53
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f 33/33/43 37/37/54 34/34/44
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f 35/35/50 34/34/51 40/40/51
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f 37/37/52 39/39/52 40/40/52
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f 36/36/53 33/33/53 35/35/53

‎data/tray/traybox.urdf

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<robot name="tabletop">
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<link name="base_link">
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<inertial>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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<mass value="0"/>
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<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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</inertial>
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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="tray_textured.obj" scale="0.5 0.5 0.5"/>
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</geometry>
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<material name="tray_material">
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<color rgba="1 1 1 1"/>
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</material>
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</visual>
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<collision>
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<origin rpy="0 0 0" xyz="0 0 0.005"/>
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<geometry>
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<box size=".6 .6 .02"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 0.575469961 0" xyz="0.25 0 0.059"/>
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<geometry>
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<box size=".02 .6 .15"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0 -0.575469961 0" xyz="-0.25 0 0.059"/>
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<geometry>
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<box size=".02 .6 .15"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="0.575469961 0 0" xyz="0 -0.25 0.059"/>
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<geometry>
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<box size=".6 .02 .15"/>
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</geometry>
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</collision>
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<collision>
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<origin rpy="-0.575469961 0 0" xyz="0 0.25 0.059"/>
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<geometry>
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<box size=".6 .02 .15"/>
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</geometry>
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</collision>
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</link>
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</robot>

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