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14 %link2: sphere 0.0975 (0,0,0) red
15 link2: sphere 0.0875 (0,0,0) red
19 revolute: ground (0,0,0)+(0,0,1)
22 revolute: link1 (r1,0,0)+(0,1,0)
23 link2 (r2,0,0)+(0,1,0)
28 obs1: body "bodies/body1" green
29 obs2: body "bodies/body2" green
30 obs3: body "bodies/body3" green
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