<?xml version="1.0"?>
<robot name="model">
  <link name="link_10">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_10.obj"/>
      </geometry>
      <material name="material_10">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_10.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
  </link>
  <link name="link_14">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_14.obj"/>
      </geometry>
      <material name="material_14">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_14.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
  </link>
  <link name="link_15">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_15.obj"/>
      </geometry>
      <material name="material_15">
        <color rgba="0.8 0.8 0.8 1.0"/>
      </material>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="./meshes/part_15.obj"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
    </inertial>
  </link>
  <joint name="joint_15_10" type="revolute">
    <parent link="link_15"/>
    <child link="link_10"/>
    <origin xyz="-0.017026 -0.299355 0.011018" rpy="0 0 0"/>
    <axis xyz="-0.020993 0.037964 0.999058"/>
    <limit lower="-0.005944" upper="3.490812" effort="1000" velocity="100"/>
  </joint>
  <joint name="joint_15_14" type="revolute">
    <parent link="link_15"/>
    <child link="link_14"/>
    <origin xyz="-0.024444 -0.000647 -0.041936" rpy="0 0 0"/>
    <axis xyz="0.000333 0.999877 -0.015610"/>
    <limit lower="-0.005368" upper="2.554926" effort="1000" velocity="100"/>
  </joint>
</robot>