<?xml version="1.0" encoding="utf-8"?>
<robot
  name="piper_description">
  <link
    name="base_link">
    <!-- <inertial>
      <origin
        xyz="-0.00973928490005031 1.8312708928633E-06 0.0410140167677137"
        rpy="0 0 0" />
      <mass
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        iyy="0.000269447877479622"
        iyz="8.15167478685076E-09"
        izz="0.000222318286704" />
    </inertial> -->
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
          filename="base_link.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="base_link.STL" />
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    </collision>
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    name="link1">
    <inertial>
      <origin
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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      <material
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        <color
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link1.STL" />
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  <joint
    name="joint1"
    type="revolute">
    <origin
      xyz="0 0 0.123"
      rpy="0 0 -1.5708" />
    <parent
      link="base_link" />
    <child
      link="link1" />
    <axis
      xyz="0 0 1" />
    <limit
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      upper="2.618"
      effort="100"
      velocity="0" />
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  <link
    name="link2">
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      <origin
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
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        <mesh
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      <material
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      <origin
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        rpy="0 0 0" />
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        <mesh
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  <joint
    name="joint2"
    type="revolute">
    <origin
      xyz="0 0 0"
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      link="link1" />
    <child
      link="link2" />
    <axis
      xyz="0 0 1" />
    <limit
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      effort="100"
      velocity="1" />
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  <link
    name="link3">
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      <origin
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link3.STL" />
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      <material
        name="">
        <color
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    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
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    name="joint3"
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      link="link2" />
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      link="link3" />
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      velocity="1" />
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    name="link4">
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      <origin
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
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      <material
        name="">
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      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link4.STL" />
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    name="joint4"
    type="revolute">
    <origin
      xyz="0.021984 0.25075 0"
      rpy="-1.5708 0 0" />
    <parent
      link="link3" />
    <child
      link="link4" />
    <axis
      xyz="0 0 1" />
    <limit
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      upper="1.832"
      effort="100"
      velocity="1" />
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  <link
    name="link5">
    <inertial>
      <origin
        xyz="8.82261259100015E-05 0.056682908434204 -0.00196119077436732"
        rpy="0 0 0" />
      <mass
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        iyy="5.63173857792457E-05"
        iyz="-2.15407623722543E-07"
        izz="4.88713595021005E-05" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link5.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link5.STL" />
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    </collision>
  </link>
  <joint
    name="joint5"
    type="revolute">
    <origin
      xyz="0 0 0"
      rpy="1.5708 -0.087266 0" />
    <parent
      link="link4" />
    <child
      link="link5" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-1.22"
      upper="1.22"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="link6">
    <inertial>
      <origin
        xyz="9.41121070072333E-09 0.000341209775988838 0.0342122921883722"
        rpy="0 0 0" />
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        iyz="1.10337380549335E-07"
        izz="0.000118282295533688" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link6.STL" />
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      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
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    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link6.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint6"
    type="revolute">
    <origin
      xyz="0 0.091 0.0014165"
      rpy="-1.5708 -1.5708 0" />
    <parent
      link="link5" />
    <child
      link="link6" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
  </joint>

  <link
    name="link7">
    <inertial>
      <origin
        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
        rpy="0 0 0" />
      <mass
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        iyy="6.17952364356547E-06"
        iyz="-1.58939504838734E-06"
        izz="1.42102253390315E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link7.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link7.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint7"
    type="prismatic">
    <origin
      xyz="0 0 0.13503"
      rpy="1.5708 0 1.5708" />
    <parent
      link="link6" />
    <child
      link="link7" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.038"
      upper="0"
      effort="100"
      velocity="1" />
  </joint>

  <link
    name="link8">
    <inertial>
      <origin
        xyz="0.000277795911672651 0.0467673513153836 -0.00921029799058583"
        rpy="0 0 0" />
      <mass
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        iyz="1.58939503259658E-06"
        izz="1.42102248648757E-05" />
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    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link8.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link8.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint8"
    type="prismatic">
    <origin
      xyz="0 0 0.13503"
      rpy="-1.5708 0 1.5708" />
    <parent
      link="link6" />
    <child
      link="link8" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="0"
      upper="0.038"
      effort="100"
      velocity="1" />
  </joint>
  <!-- <link
    name="link8">
    <inertial>
      <origin
        xyz="-0.000277795893713934 -0.046767350270289 -0.00921029791141448"
        rpy="0 0 0" />
      <mass
        value="0.0264822500394006" />
      <inertia
        ixx="9.99782519244544E-06"
        ixy="-1.57547595978589E-07"
        ixz="-2.71355785017816E-08"
        iyy="6.17952364356547E-06"
        iyz="-1.58939504838734E-06"
        izz="1.42102253390315E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link8.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="link8.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="joint8"
    type="prismatic">
    <origin
      xyz="-0.037167 0 0.13503"
      rpy="1.5708 0 1.5708" />
    <parent
      link="link6" />
    <child
      link="link8" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.038"
      upper="0"
      effort="100"
      velocity="1" />
  </joint> -->
</robot>