<?xml version='1.0' encoding='utf-8'?>
<robot name="scene">
  <link name="l_world">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </link>
  <link name="l_2">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <geometry>
        <mesh filename="./objs/2/2.obj" scale="1 1 1" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
    </visual>
  </link>
  <link name="l_3">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <geometry>
        <mesh filename="./objs/3/3.obj" scale="1 1 1" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
    </visual>
  </link>
  <joint name="joint_fixed_2_3" type="fixed">
    <parent link="l_2" />
    <child link="l_3" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <joint name="joint_fixed_world2" type="fixed">
    <parent link="l_world" />
    <child link="l_2" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="l_0">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <geometry>
        <mesh filename="./objs/0/0.obj" scale="1 1 1" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
    </visual>
  </link>
  <link name="l_1">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
    <visual>
      <geometry>
        <mesh filename="./objs/1/1.obj" scale="1 1 1" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
    </visual>
  </link>
  <joint name="joint_fixed_0_1" type="fixed">
    <parent link="l_0" />
    <child link="l_1" />
    <origin xyz="0 0 0" rpy="0 0 0" />
  </joint>
  <link name="abstract_2_0">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="1.0" />
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" />
    </inertial>
  </link>
  <joint name="joint_fixed_abstract_2_0" type="fixed">
    <parent link="abstract_2_0" />
    <child link="l_0" />
    <origin xyz="0.5 -0.23906249999999996 0.04031249999999997" rpy="0 0 0" />
  </joint>
  <joint name="joint_revolute_l_2_abstract_2_0" type="revolute">
    <parent link="l_2" />
    <child link="abstract_2_0" />
    <origin xyz="-0.5 0.23906249999999996 -0.04031249999999997" rpy="0 0 0" />
    <axis xyz="1.0 0.0 0.0" />
    <limit lower="-0.3141592653589793" upper="0.0" effort="2000.0" velocity="2.0" />
  </joint>
</robot>