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19 base: sphere 0.1 (0,0,0) red
21 link1: color (0.9,0.9,0.9)
22 cylinder 0.05 (0,0,0) (l1,0,0)
23 sphere 0.1 (l1,0,0) red
25 link2: color (0.1,0.1,0.1)
26 cylinder 0.05 (0,0,0) (l2,0,0)
27 sphere 0.1 (l2,0,0) red
29 link3: color (0.9,0.9,0.9)
30 cylinder 0.05 (0,0,0) (l3,0,0)
32 end_effector: sphere 0.1 (0,0,0) green
35 revolute: base (0,1,0) (0,-1,0)
36 link1 (0,1,0) (0,-1,0)
37 range [range1_low,range1_up]
40 revolute: link1 (l1,1,0) (l1,-1,0)
41 link2 (0 ,1,0) (0 ,-1,0)
42 range [range2_low,range2_up]
46 revolute: link2 (l2,1,0) (l2,-1,0)
47 link3 (0 ,1,0) (0 ,-1,0)
48 range [range3_low,range3_up]
51 fix: link3 end_effector
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