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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="Assembly_2legs">
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      <origin
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      <origin
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  <link
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      <origin
        xyz="0 0 0"
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    <child
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    <limit
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    <visual>
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      <material
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  <joint
    name="jBR1"
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  <link
    name="lBR2">
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  <joint
    name="jBR2"
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    <child
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    <axis
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    <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
  </joint>
</robot>