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Replace these lines: <arg name="tag_rot" default="0 0 0 0 0 -1.57"/> <arg name="tag_trans" default="0 -0.28 -0.1 0 0 0"/>

You are missing a couple of /

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No.2 Revision

Replace these lines: lines:

<arg name="tag_rot" default="0 0 0 0 0 -1.57"/> 
<arg name="tag_trans" default="0 -0.28 -0.1 0 0 0"/>

0"/>

You are missing a couple of /