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4 robot_abb: "abb_irb_6640.world"
7 robot_staubli: "staubli_rx160.world"
13 bar: cylinder R (-1,0,0) (1.5,0,0) blue
18 hole: body "bodies/box_with_hole.off"
22 fix: robot_abb::base_link robot_staubli::base_link Txyz(2.5,-0.75,0)
25 fix: robot_abb::tool0 bar Tx(R/2)*Rz(pi/2)
28 fix: robot_staubli::tool0 bar Ry(pi/2)*Tx(-R)*Ty(0.5)*Rz(pi/2)
31 fix: robot_abb::base_link hole Txyz(1.5,0.5,0.5)
34 prismatic: robot_abb::base_link (0,0,0)+(1,0,0) dummy1 (0,0,0)+(1,0,0) range [0,2]
35 prismatic: dummy1 (0,0,0)+(0,1,0) dummy2 (0,0,0)+(0,1,0) range [-2,2]
36 prismatic: dummy2 (0,0,0)+(0,0,1) dummy3 (0,0,0)+(0,0,1) range [0,2]
37 fix: dummy3 bar Rz(pi/2)
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