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arm.xml
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arm.xml
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<robot name= "arm">
<link name= "base">
<visual>
<geometry>
<box size="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</visual>
</link>
<link name= "link1">
<visual>
<geometry>
<cylinder length="0.25" radius="0.1"/>
</geometry>
<material name= "blue">
<color rgba="0 0 0.8 1"/>
</material>
<origin rpy="0 0 0" xyz="0 0 0.125"/>
</visual>
</link>
<joint name="joint1" type="continuous">
<parent link="base"/>
<child link="link1"/>
<axis xyz= "0 0 1"/>
<origin xyz="0 0 0"/>
</joint>
<link name= "link2">
<visual>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
</link>
<joint name="joint2" type="continuous">
<parent link="link1"/>
<child link="link2"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 0.25"/>
</joint>
<link name= "link3">
<visual>
<geometry>
<cylinder length="1" radius="0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</visual>
</link>
<joint name="joint3" type="continuous">
<parent link="link2"/>
<child link="link3"/>
<axis xyz="1 0 0"/>
<origin xyz="0 0 1"/>
</joint>