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19 base: cylinder 0.05 (-1,0,0) (2,0,0) blue
21 lower1: sphere 0.1 (0,0,0) red
22 cylinder 0.075 (0,0,0) (l1,0,0) blue
24 lower2: sphere 0.1 (0,0,0) red
25 cylinder 0.075 (0,0,0) (l1,0,0) blue
27 lower3: sphere 0.1 (0,0,0) red
28 cylinder 0.075 (0,0,0) (l1,0,0) blue
30 upper1: cylinder 0.05 (0,0,0) (d1,0,0) yellow
31 sphere 0.1 (d1,0,0) red
33 upper2: cylinder 0.05 (0,0,0) (d2,0,0) yellow
34 sphere 0.1 (d2,0,0) red
36 upper3: cylinder 0.05 (0,0,0) (d3,0,0) yellow
37 sphere 0.1 (d3,0,0) red
39 platform: cylinder 0.05 (0,0,0) (2,0,0) blue
41 end_effector: sphere 0.1 (0,0,0) green
44 revolute: base (-1,1,0) (-1,-1,0)
45 lower1 ( 0,1,0) ( 0,-1,0)
47 revolute: base (1,1,0) (1,-1,0)
48 lower2 (0,1,0) (0,-1,0)
50 revolute: base (2,1,0) (2,-1,0)
51 lower3 (0,1,0) (0,-1,0)
53 prismatic: lower1 (0,0,0)(1,0,0)
57 prismatic: lower2 (0,0,0)(1,0,0)
61 prismatic: lower3 (0,0,0)(1,0,0)
65 revolute: upper1 (d1,1,0) (d1,-1,0)
66 platform ( 0,1,0) ( 0,-1,0)
68 revolute: upper2 (d2,1,0) (d2,-1,0)
69 platform ( 0,1,0) ( 0,-1,0)
71 revolute: upper3 (d3,1,0) (d3,-1,0)
72 platform ( 2,1,0) ( 2,-1,0)
74 fix: platform end_effector
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