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<origin xyz="0 0 0"/>
<geometry>
<mesh filename="textured_objs/original-57.obj"/>
</geometry>
</collision>
</link>
<joint name="joint_13" type="fixed">
<origin rpy="1.570796326794897 0 -1.570796326794897" xyz="0 0 0"/>
<child link="link_13"/>
<parent link="base"/>
</joint>
</robot>