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11 ground: body "bodies/beam.off" blue
12 link1: body "bodies/link1.off" grey
13 sphere 0.04 (0,0,0) black
14 sphere 0.04 (l1,0,0.05) black
15 link2: body "bodies/link2.off" grey
16 sphere 0.04 (l1,0,0.1) black
17 link3: body "bodies/link3.off" grey
18 body "bodies/gripper.off" black
19 % now some artistic representation of the welding tool
20 cylinder 0.03 (l3,0,0.1) (l3+0.2,0,0.1) white
21 sphere 0.03 (l3+0.2,0,0.1) white
22 cylinder 0.02 (l3+0.1,0,0.1) (l3+0.3,0,0.1) black decoration
23 sphere 0.02 (l3+0.3,0,0.1) red decoration
27 revolute: ground (0,0,0) (0,0,1)
29 revolute: link1 (l1,0,0) (l1,0,1)
31 revolute: link2 (l2,0,0) (l2,0,1)
34 revolute: link3 (1.3,0,0) (1.3,0,1)
37 prismatic: link4 (0,0,0) (1,0,0)
38 ground (x,y,0) (x+1,y,0)
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