<?xml version="1.0" ?>
<robot name="partnet_59a07a01d7c3fdb03c1d9add3a87bd2d">
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		</visual>
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			<origin xyz="0 0 0"/>
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				<mesh filename="meshes/pen/original-17.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="cap-1">
			<origin xyz="0 0 0"/>
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				<mesh filename="meshes/pen/original-11.obj" scale="0.2 0.2 0.2"/>
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				<mesh filename="meshes/pen/original-14.obj" scale="0.2 0.2 0.2"/>
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				<mesh filename="meshes/pen/original-17.obj" scale="0.2 0.2 0.2"/>
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				<mesh filename="meshes/pen/original-11.obj" scale="0.2 0.2 0.2"/>
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	</link>
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		<origin xyz="0 0 0"/>
		<axis xyz="0 -1 0"/>
		<child link="link_0"/>
		<parent link="link_1"/>
		<limit lower="0" upper="0.492"/>
	</joint>
	<link name="link_1">
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-4.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-3.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-2.obj" scale="0.2 0.2 0.2"/>
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		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-16.obj" scale="0.2 0.2 0.2"/>
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		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-8.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-13.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-9.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-5.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-6.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-15.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-18.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-12.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-7.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-1.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-10.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<visual name="base_body-2">
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-19.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</visual>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-4.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-3.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-2.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-16.obj" scale="0.2 0.2 0.2"/>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-8.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-13.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-9.obj" scale="0.2 0.2 0.2"/>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-5.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-6.obj" scale="0.2 0.2 0.2"/>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-15.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-18.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-12.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-7.obj" scale="0.2 0.2 0.2"/>
			</geometry>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-1.obj" scale="0.2 0.2 0.2"/>
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		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-10.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
		<collision>
			<origin xyz="0 0 0"/>
			<geometry>
				<mesh filename="meshes/pen/original-19.obj" scale="0.2 0.2 0.2"/>
			</geometry>
		</collision>
	</link>
	<joint name="joint_1" type="fixed">
		<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
		<child link="link_1"/>
		<parent link="base"/>
	</joint>
</robot>
