motoman_IK.world
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3 [INCLUDE]
4 
5  // import the model of the robot
6  robot: "motoman_sia20d.world"
7 
8 [JOINTS]
9 
10  // fix pose of the end effector
11  fix: robot::base_link robot::tool0 Txyz(0.75,0,0.5)*Ry(3*pi/4)
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