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23 % color for the arm (sort of grey)
34 arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
35 arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
36 arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
37 arm3: body "bodies/barret-arm-3.off" color (cr,cg,cb)
38 arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb)
39 arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
40 arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
41 arm7: body "bodies/barret-arm-7.off" color (cr,cg,cb)
46 fix: world arm0 Txyz(-0.22,-0.14,-0.346)
49 revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
51 range [range1_l,range1_u]
56 revolute: arm1 (0,0,0)+(0,1,0)
58 range [range2_l,range2_u]
63 revolute: arm2 (0,0,0)+(0,1,0)
65 range [range3_l,range3_u]
70 revolute: arm3 (0.045,0,0.55)+(0,1,0)
72 range [range4_l,range4_u]
77 revolute: arm4 (-0.045,0,0)+(0,1,0)
79 range [range5_l,range5_u]
84 revolute: arm5 (0,0,0.3)+(0,1,0)
86 range [range6_l,range6_u]
91 revolute: arm6 (0,0,0)+(0,1,0)
93 range [range7_l,range7_u]
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