agent 1
type: NamedIndividual
type: Agent
has URDF name: base_link
has base link name: base_link
has component: head
has component: arm l
has component: arm r
has component: player

head
type: NamedIndividual
type: Agent
has URDF name: head

arm l
type: NamedIndividual
type: Arm
has URDF name: arm_l

arm r
type: NamedIndividual
type: Arm
has URDF name: arm_r

player
type: NamedIndividual
type: Agent
has URDF name: player