<?xml version="1.0" ?>
<robot name="openarm_two_arms">
  <link name="left_link1">
    <visual>
      <!--base_link001/Part__Feature018.-->
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    <collision>
      <!--bound_obj__left_link1__col_base_link__BoundBox/col_base_link__BoundBox.-->
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  <link name="l_J2_v003">
    <visual>
      <!--J2 v003/Part__Feature019.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae"/>
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    <collision>
      <!--bound_obj__left_link2__col_J2_v2__BoundBox/col_J2_v2__BoundBox.-->
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  <link name="l_J3_v004">
    <visual>
      <!--J3 v004/Part__Feature020.-->
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        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae"/>
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    <collision>
      <!--bound_obj__left_link3__col_J3_v003__BoundBox/col_J3_v003__BoundBox.-->
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  <link name="l_J4_v003">
    <visual>
      <!--J4 v003/Part__Feature021.-->
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        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae"/>
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    <collision>
      <!--bound_obj__left_link4__col_J4_v2__BoundBox/col_J4_v2__BoundBox.-->
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  <link name="l_J5_v004">
    <visual>
      <!--J5 v004/Part__Feature022.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae"/>
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    <collision>
      <!--bound_obj__left_link5__col_J5_v003__BoundBox/col_J5_v003__BoundBox.-->
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  </link>
  <link name="l_J6_Left_v004">
    <visual>
      <!--J6_Left v004/Part__Feature023.-->
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    <collision>
      <!--bound_obj__left_link6__col_J6_Left_v003__BoundBox/col_J6_Left_v003__BoundBox.-->
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  </link>
  <link name="l_J7_Left_v004">
    <visual>
      <!--J7_Left v004/Part__Feature024.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
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    <collision>
      <!--bound_obj__left_link7__col_J7_Left_v003__BoundBox/col_J7_Left_v003__BoundBox.-->
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  </link>
  <link name="l_J8_v003">
    <visual>
      <!--J8 v003/Part__Feature025.-->
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        <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae"/>
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    <collision>
      <!--bound_obj__left_link8__col_J8_v002__BoundBox/col_J8_v002__BoundBox.-->
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  </link>
  <link name="l_right_jaw_v004">
    <visual>
      <!--right_jaw v004/Part__Feature027.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__left_right_jaw__col_right_jaw_v002_col_obj/col_right_jaw_v002_col_obj.-->
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      <geometry>
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  </link>
  <link name="l_left_jaw_v004">
    <visual>
      <!--left_jaw v004/Part__Feature026.-->
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      <geometry>
        <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae"/>
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    </visual>
    <collision>
      <!--bound_obj__left_left_jaw__col_left_jaw_v002_col_obj/col_left_jaw_v002_col_obj.-->
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  <joint name="left_rev1" type="revolute">
    <parent link="left_link1"/>
    <child link="l_J2_v003"/>
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  <joint name="left_rev2" type="revolute">
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    <child link="l_J6_Left_v004"/>
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  <joint name="left_rev6" type="revolute">
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    <child link="l_J7_Left_v004"/>
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  <joint name="left_left_pris1" type="prismatic">
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    <child link="l_left_jaw_v004"/>
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  <joint name="left_right_pris2" type="prismatic">
    <parent link="l_J8_v003"/>
    <child link="l_right_jaw_v004"/>
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    <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
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</robot>
