<?xml version="1.0"?>
<robot name="decor"> <!-- puzzle environment -->
  <link name="decor_base">
    <visual>
      <origin xyz="0.27 0 -0.075"/><!-- -0.05 0 -0.55 -->
      <geometry>
        <box size="0.07 2 0.9" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.27 0 -0.075"/>
      <geometry>
        <box size="0.07 2 0.9" />
      </geometry>
    </collision>
  </link>

  <joint name="j_decor_one" type="fixed">
    <parent link="decor_base"/>
    <child link="l_decor_one"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>

  <link name="l_decor_one">
    <visual>
      <origin xyz="0.27 0 1.025"/>
      <geometry>
        <box size="0.07 2 0.9" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.27 0 1.025"/>
      <geometry>
        <box size="0.07 2 0.9" />
      </geometry>
    </collision>
  </link>


  <joint name="j_decor_two" type="fixed">
    <parent link="l_decor_one"/>
    <child link="l_decor_two"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>

  <link name="l_decor_two">
    <visual>
      <origin xyz="0.27 -0.6 0.475"/>
      <geometry>
        <box size="0.07 0.8 0.2" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.27 -0.6 0.475"/>
      <geometry>
        <box size="0.07 0.8 0.2" />
      </geometry>
    </collision>
  </link>


  <joint name="j_decor_three" type="fixed">
    <parent link="l_decor_two"/>
    <child link="l_decor_three"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>

  <link name="l_decor_three">
    <visual>
      <origin xyz="0.27 0.6 0.475"/>
      <geometry>
        <box size="0.07 0.8 0.2" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.27 0.6 0.475"/>
      <geometry>
        <box size="0.07 0.8 0.2" />
      </geometry>
    </collision>
  </link>
</robot>
