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Have you checked out the wiki/urdf/Tutorials? The Learning URDF Step by Step tutorials should give you something to start with.

Have you checked out the wiki/urdf/Tutorials? The Learning URDF Step by Step tutorials should give you something to start with.

Note that URDF cannot model parallel robots, so you'll either have to ignore that link (ie: not model it), or use a mimic joint for it.

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