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ERROR: cannot launch node of type [gazebo_ros/gzserver]: gazebo_ros
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/marcio/ros_workspace/sandbox
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
ERROR: cannot launch node of type [gazebo_ros/gzclient]: gazebo_ros
ROS path [0]=/opt/ros/hydro/share/ros
ROS path [1]=/home/marcio/ros_workspace/sandbox
ROS path [2]=/opt/ros/hydro/share
ROS path [3]=/opt/ros/hydro/stacks
ERROR: cannot launch node of type [robots/spawn_model]: can't locate node [spawn_model] in package [robots]
<launch>
<include
file="$(find worlds)/gazebo_ros/launch/empty_world.launch" />
<node
name="tf_footprint_base"
pkg="tf"
type="static_transform_publisher"
args="0 0 0 0 0 0 base_link base_footprint 40" />
<node
name="hexapod"
pkg="robots"
type="hexapod"
args="-file $(find robots)/hexapod_launch/robots/hexapod_launch.URDF -urdf -model hexapod"
output="screen" />
</launch>
<robot
name="hexapod">
<link
name="plate">
<inertial>
<origin
xyz="-0.00106734868776533 -0.0241891486231736 0.00698973900755083"
rpy="0 0 0" />
<mass
value="0.641458824297461" />
<inertia
ixx="0.00515428609805617"
ixy="4.33382792757166E-07"
ixz="-3.15832673198832E-06"
iyy="0.00893359519751371"
iyz="-1.56262777241968E-05"
izz="0.00405010739619337" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/plate.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/plate.STL" />
</geometry>
</collision>
</link>
<link
name="leg1">
<inertial>
<origin
xyz="-0.0194650788238926 -0.020875491305913 7.68165447209701E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268773" />
<inertia
ixx="4.25540404932904E-06"
ixy="4.28080675887047E-07"
ixz="-2.88327550608186E-11"
iyy="5.11198464183834E-06"
iyz="-1.69545869136138E-11"
izz="5.66777890034494E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1.STL" />
</geometry>
</collision>
</link>
<joint
name="leg1"
type="revolute">
<origin
xyz="0.090789 -0.13766 -0.0012933"
rpy="1.5708 4.4963E-17 2.3169" />
<parent
link="plate" />
<child
link="leg1" />
<axis
xyz="0 -1 0" />
<limit
lower="-0.74613"
upper="2.3955"
effort="0"
velocity="0" />
</joint>
<link
name="leg1-2">
<inertial>
<origin
xyz="0.0214594299369455 -0.018331713567611 -0.0344333058920237"
rpy="0 0 0" />
<mass
value="0.0881030883727184" />
<inertia
ixx="7.24415421790821E-05"
ixy="-5.00727505042254E-07"
ixz="-3.62431838225838E-05"
iyy="9.07410129932118E-05"
iyz="8.00591093469313E-07"
izz="3.68879753030412E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg1-2"
type="fixed">
<origin
xyz="-0.048 -0.023 -0.018"
rpy="-1.5708 2.2538E-14 -3.1416" />
<parent
link="leg1" />
<child
link="leg1-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg1-3">
<inertial>
<origin
xyz="-0.0359347150616664 -0.0174214981619291 -1.96507843056859E-05"
rpy="0 0 0" />
<mass
value="0.0381656832413196" />
<inertia
ixx="1.77506933673593E-05"
ixy="7.91671339131252E-07"
ixz="-1.84513562439172E-08"
iyy="0.000144038943177988"
iyz="1.87854239421716E-08"
izz="0.00015484263240412" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg1-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg1-3"
type="fixed">
<origin
xyz="0.043901 0 -0.070439"
rpy="-3.1416 1.1155 -3.1416" />
<parent
link="leg1-2" />
<child
link="leg1-3" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg2">
<inertial>
<origin
xyz="-0.019465078823893 -0.0208754913059129 7.68165454248342E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268773" />
<inertia
ixx="4.25540404932905E-06"
ixy="4.28080675887055E-07"
ixz="-2.88327553984142E-11"
iyy="5.11198464183839E-06"
iyz="-1.69545870934364E-11"
izz="5.66777890034498E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg2"
type="revolute">
<origin
xyz="0.13458 -0.0058387 -0.0012933"
rpy="1.5708 4.8216E-16 3.0709" />
<parent
link="plate" />
<child
link="leg2" />
<axis
xyz="0 -1 0" />
<limit
lower="-1.5001"
upper="1.6415"
effort="0"
velocity="0" />
</joint>
<link
name="leg2-2">
<inertial>
<origin
xyz="0.0214593953425564 -0.0183317427547274 -0.0344332414114862"
rpy="0 0 0" />
<mass
value="0.0881032661970152" />
<inertia
ixx="7.24417803436748E-05"
ixy="-5.00683003480892E-07"
ixz="-3.62432902968056E-05"
iyy="9.0741263196215E-05"
iyz="8.005071530159E-07"
izz="3.68880723284981E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg2-2"
type="fixed">
<origin
xyz="-0.048 -0.023 -0.018"
rpy="-1.5708 -2.77E-14 -3.1416" />
<parent
link="leg2" />
<child
link="leg2-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg2-3">
<inertial>
<origin
xyz="-0.0359347130789357 -0.0174214969684498 -1.9650774544161E-05"
rpy="0 0 0" />
<mass
value="0.0381656853622241" />
<inertia
ixx="1.77506943422425E-05"
ixy="7.91672966392537E-07"
ixz="-1.84513429529511E-08"
iyy="0.000144038945906827"
iyz="1.87854303204051E-08"
izz="0.000154842636079243" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg2-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg2-3"
type="fixed">
<origin
xyz="0.0439011742567943 0 -0.0704392426057688"
rpy="-3.14159265358979 1.11545069820049 -3.14159265358979" />
<parent
link="leg2-2" />
<child
link="leg2-3" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg3">
<inertial>
<origin
xyz="-0.0194650788238931 -0.0208754913059129 7.68165450679148E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268773" />
<inertia
ixx="4.25540404932904E-06"
ixy="4.28080675887058E-07"
ixz="-2.88327552179432E-11"
iyy="5.11198464183839E-06"
iyz="-1.69545869822353E-11"
izz="5.66777890034498E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg3"
type="revolute">
<origin
xyz="0.090789 0.12598 -0.0012933"
rpy="1.5708 3.8782E-15 -2.3218" />
<parent
link="plate" />
<child
link="leg3" />
<axis
xyz="0 -1 0" />
<limit
lower="-0.75102"
upper="2.3906"
effort="0"
velocity="0" />
</joint>
<link
name="leg3-2">
<inertial>
<origin
xyz="0.0214594300253947 -0.0183317135495977 -0.0344333060379287"
rpy="0 0 0" />
<mass
value="0.0881030882977147" />
<inertia
ixx="7.24415421720318E-05"
ixy="-5.00727590120496E-07"
ixz="-3.62431838131499E-05"
iyy="9.07410129811927E-05"
iyz="8.00591235499483E-07"
izz="3.6887975276297E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg3-2"
type="fixed">
<origin
xyz="-0.0480000000000001 -0.0230000000000016 -0.0179999999999995"
rpy="-1.5707963267949 1.83186799063151E-15 -3.14159265358979" />
<parent
link="leg3" />
<child
link="leg3-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg3-3">
<inertial>
<origin
xyz="0.0154035950292933 -0.0908054166914206 0.0205785018361457"
rpy="0 0 0" />
<mass
value="0.038165683237695" />
<inertia
ixx="0.000151006103413935"
ixy="-2.26105856125804E-05"
ixz="-1.13810511931961E-07"
iyy="2.15872223376277E-05"
iyz="7.83673120808818E-07"
izz="0.000144038943161023" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg3-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg3-3"
type="fixed">
<origin
xyz="0.0191749371044299 -0.0379999999999986 -0.120871857016402"
rpy="-1.57079632679489 0.287402496907156 9.84052035906305E-16" />
<parent
link="leg3-2" />
<child
link="leg3-3" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg4">
<inertial>
<origin
xyz="-0.0194650788238939 -0.020873954970826 -7.68169631265581E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268772" />
<inertia
ixx="4.25533620795254E-06"
ixy="4.28000315537551E-07"
ixz="3.55669966804303E-11"
iyy="5.11198464183838E-06"
iyz="1.6966101145556E-11"
izz="5.66771105896861E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4.STL" />
</geometry>
</collision>
</link>
<joint
name="leg4"
type="revolute">
<origin
xyz="-0.092851 0.12598 -0.0012933"
rpy="1.5708 -4.2166E-17 -0.75961" />
<parent
link="plate" />
<child
link="leg4" />
<axis
xyz="0 -1 0" />
<limit
lower="-2.3304"
upper="0.81118"
effort="0"
velocity="0" />
</joint>
<link
name="leg4-2">
<inertial>
<origin
xyz="0.0214594300254638 -0.0183317135628296 -0.03443330603788"
rpy="0 0 0" />
<mass
value="0.0881030883884304" />
<inertia
ixx="7.24415422275673E-05"
ixy="-5.00727595418128E-07"
ixz="-3.62431838370117E-05"
iyy="9.07410130364849E-05"
iyz="8.00591243685759E-07"
izz="3.68879753120674E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg4-2"
type="fixed">
<origin
xyz="-0.0480000000000018 -0.0229999999999998 -0.0179999999999931"
rpy="-1.57079632679489 -3.24185123190546E-14 3.14159265358978" />
<parent
link="leg4" />
<child
link="leg4-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg4-3">
<inertial>
<origin
xyz="-0.0359347150645253 -0.0174214981616084 -1.96507761711928E-05"
rpy="0 0 0" />
<mass
value="0.0381656832424673" />
<inertia
ixx="1.77506933674504E-05"
ixy="7.91671337076717E-07"
ixz="-1.84513450555655E-08"
iyy="0.000144038943168688"
iyz="1.87854291235263E-08"
izz="0.000154842632394857" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg4-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg4-3"
type="fixed">
<origin
xyz="0.043901174256791 0 -0.0704392426057717"
rpy="-3.14159265358979 1.11545069820046 -3.14159265358979" />
<parent
link="leg4-2" />
<child
link="leg4-3" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg5">
<inertial>
<origin
xyz="-0.019465078823893 -0.020873954970826 -7.68169634244101E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268772" />
<inertia
ixx="4.25533620795255E-06"
ixy="4.28000315537529E-07"
ixz="3.55669968491487E-11"
iyy="5.1119846418383E-06"
iyz="1.69661011986378E-11"
izz="5.66771105896853E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5.STL" />
</geometry>
</collision>
</link>
<joint
name="leg5"
type="revolute">
<origin
xyz="-0.13664 -0.0058387 -0.0012933"
rpy="1.5708 -1.6728E-18 -0.027324" />
<parent
link="plate" />
<child
link="leg5" />
<axis
xyz="0 -1 0" />
<limit
lower="-1.5435"
upper="1.5981"
effort="0"
velocity="0" />
</joint>
<link
name="leg5-2">
<inertial>
<origin
xyz="0.0214594313679113 -0.0183317722316229 -0.0344333082501692"
rpy="0 0 0" />
<mass
value="0.0881034395082296" />
<inertia
ixx="7.24420296858361E-05"
ixy="-5.007311181375E-07"
ixz="-3.62434033610348E-05"
iyy="9.07415293970138E-05"
iyz="8.00596837570718E-07"
izz="3.68881715116802E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg5-2"
type="fixed">
<origin
xyz="-0.0480000000000004 -0.0229999999999989 -0.0179999999999973"
rpy="-1.57079632679489 -1.33747179997812E-14 3.14159265358979" />
<parent
link="leg5" />
<child
link="leg5-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg5-3">
<inertial>
<origin
xyz="0.0154035946948792 -0.0908054147304743 0.0205785030304097"
rpy="0 0 0" />
<mass
value="0.0381656853595186" />
<inertia
ixx="0.00015100610702974"
ixy="-2.26105860629793E-05"
ixz="-1.13810785753231E-07"
iyy="2.15872233901235E-05"
iyz="7.8367472959624E-07"
izz="0.000144038945906619" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg5-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg5-3"
type="fixed">
<origin
xyz="0.0191749371044288 -0.038 -0.120871857016401"
rpy="-1.5707963267949 0.287402496907164 7.99542279173875E-16" />
<parent
link="leg5-2" />
<child
link="leg5-3" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg6">
<inertial>
<origin
xyz="-0.0194650788238929 -0.020873954970826 -7.68169635449734E-07"
rpy="0 0 0" />
<mass
value="0.0103887475268772" />
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ixx="4.25533620795254E-06"
ixy="4.28000315537524E-07"
ixz="3.55669968962119E-11"
iyy="5.1119846418383E-06"
iyz="1.69661012322445E-11"
izz="5.66771105896854E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6.STL" />
</geometry>
</collision>
</link>
<joint
name="leg6"
type="revolute">
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xyz="-0.0928508382047849 -0.137658502549424 -0.0012932739517905"
rpy="1.5707963267949 4.03396070585492E-17 0.71924588488693" />
<parent
link="plate" />
<child
link="leg6" />
<axis
xyz="0 -1 0" />
<limit
lower="-2.29004221168184"
upper="0.851550441907963"
effort="0"
velocity="0" />
</joint>
<link
name="leg6-2">
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<origin
xyz="0.0214594299057079 -0.018331713573828 -0.0344333058407594"
rpy="0 0 0" />
<mass
value="0.0881030883528891" />
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ixx="7.24415421382571E-05"
ixy="-5.00727460898789E-07"
ixz="-3.62431838053691E-05"
iyy="9.07410129529865E-05"
iyz="8.00591020851223E-07"
izz="3.68879752844111E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6-2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6-2.STL" />
</geometry>
</collision>
</link>
<joint
name="leg6-2"
type="fixed">
<origin
xyz="-0.0480000000000009 -0.022999999999993 -0.017999999999999"
rpy="-1.57079632679489 -4.05231403988182E-15 3.14159265358976" />
<parent
link="leg6" />
<child
link="leg6-2" />
<axis
xyz="0 0 0" />
</joint>
<link
name="leg6-3">
<inertial>
<origin
xyz="0.0154035950183475 -0.0908054167024125 0.0205785018289934"
rpy="0 0 0" />
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value="0.03816568322164" />
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ixx="0.00015100610339968"
ixy="-2.2610585628327E-05"
ixz="-1.13810518872766E-07"
iyy="2.15872223385083E-05"
iyz="7.83673113612187E-07"
izz="0.000144038943156826" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6-3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://hexapod_launch/meshes/leg6-3.STL" />
</geometry>
</collision>
</link>
<joint
name="leg6-3"
type="fixed">
<origin
xyz="0.0191749371044289 -0.038 -0.120871857016401"
rpy="-1.5707963267949 0.287402496907163 5.78854138768416E-16" />
<parent
link="leg6-2" />
<child
link="leg6-3" />
<axis
xyz="0 0 0" />
</joint>
</robot>
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