4 0.00610633 0 0 0.00610633 0 0.01125 0 0 0.019 0 -0 0 0.075 0.038 model://ur10/meshes/base.dae 0 0 .1273 0 -0 0 7.778 0.0314743 0 0 0.0314743 0 0.0218756 0.075 0.177 model://ur10/meshes/shoulder.dae 0 0.220941 0.1273 3.14159 1.57079 3.14159 0 0 0.306 0 0 0 12.93 0.421754 0 0 0.421754 0 0.0363656 0 -0.045 0 1.5707 0 0 0.075 0.177 0 -0.0436 0.32 0 0 1.5707 0.058 0.461 0 -0.040 0.613 1.5707 0 0 0.058 0.129 model://ur10/meshes/upperarm.dae 0.612 0.049041 0.1273 3.14159 1.57079 3.14159 0 0 0.28615 0 -0 0 3.87 0.11107 0 0 0.11107 0 0.0108844 0 0 0.001 1.5707 0 0 0.058 0.136 0 0 0.305 0 0 1.5707 0.045 0.447 0 0.001 0.5735 1.5707 0 0 0.045 0.119 model://ur10/meshes/forearm.dae 1.1843 0.049041 0.1273 3.14159 3.58979e-09 3.14159 1.96 0.00510825 0 0 0.00510825 0 0.0055125 0 0.115 0.0025 0 0 0 0.0455 0.119 model://ur10/meshes/wrist1.dae 1.1843 0.163941 0.1273 3.14159 3.58979e-09 3.14159 1.96 0.00510825 0 0 0.00510825 0 0.0055125 0 0.002 0.11659 1.5707 0 0 0.0455 0.119 model://ur10/meshes/wrist2.dae 1.1843 0.163941 0.0116 3.14159 3.58979e-09 3.14159 0.202 0.000526462 0 0 0.000526462 0 0.000568125 0 0.0765 0 1.5707 0 0 0.045 0.031 model://ur10/meshes/wrist3.dae shoulder base 0 0 1 -6.28319 6.28319 330 2.16 1 upper_arm shoulder 0 1 0 -6.28319 6.28319 330 2.16 1 forearm upper_arm 0 1 0 -6.28319 6.28319 150 3.15 1 wrist_1 forearm 0 1 0 -6.28319 6.28319 54 3.2 1 wrist_2 wrist_1 3.58979e-09 0 -1 -6.28319 6.28319 54 3.2 1 wrist_3 wrist_2 0 1 0 -6.28319 6.28319 54 3.2 1