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<robot xmlns:xacro="http://ros.org/wiki/xacro" name="arm_and_hand">
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<include filename="$(find sr_hand)/model/materials.urdf.xacro" />
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<include filename="$(find sr_hand)/model/arm_urdf/full_arm_muscle.urdf.xacro" />
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<include filename="$(find sr_hand)/model/hand_urdf/full_hand_muscle.urdf.xacro" />
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<include filename="$(find sr_hand)/model/gazebo/gazebo.urdf.xacro" />
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<include filename="$(find sr_hand)/model/desk/desk.urdf.xacro" />
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<joint name="arm_to_desk_fixed" type="fixed">
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<parent link="desk_pillar"/>
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<child link="shadowarm_base"/>
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<origin rpy="0 0 0" xyz="0 0 1.0"/>
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<joint name="base_fix" type="fixed">
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<parent link="world"/>
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<child link="desk_support"/>
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<origin rpy="0 0 0" xyz="0 0 0"/>
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</xacro:sr_arm_muscle>
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<joint name="arm_link" type="fixed">
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<parent link="shadowarm_handsupport_muscle"/>
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<child link="forearm_muscle"/>
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<origin xyz="0 0 0" rpy="0 0 ${M_PI}" />
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<xacro:shadowhand_muscle>
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</xacro:shadowhand_muscle>