{#if urdf_viewer_state.robot}
{@html ``}
{#if urdf_viewer_state.linkNames }
{/if}
{#if urdf_viewer_state.visual }
{#each link.visual as visual}
{/each}
{/if}
{#if urdf_viewer_state.collision }
{#each link.collision as col}
{/each}
{/if}
{#each getChildJoints(urdf_viewer_state.robot, link) as child}
{/each}
{/if}