example2p.world
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1 
3 [LINKS]
4 
5  link_0 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
6  cylinder 0.15 (0,0,0) (0.8203823491177166,0,0) color (0.25,0.25,0.25) decoration
7  cylinder 0.15 (0,0,0) (-0.0955816258817273,0.7508026629825773,0) color (0.25,0.25,0.25) decoration
8 
9  link_1 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
10  cylinder 0.15 (0,0,0) (0.8203823491177167,0,0) color (0.25,0.25,0.25) decoration
11  cylinder 0.15 (0,0,0) (-0.2924365028848768,0.7902062635723122,0) color (0.25,0.25,0.25) decoration
12 
13  link_2 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
14  cylinder 0.15 (0,0,0) (0.8425823682041129,0,0) color (0.25,0.25,0.25) decoration
15  cylinder 0.15 (0,0,0) (-0.6045202199702661,0.4945059454706734,0) color (0.25,0.25,0.25) decoration
16 
17  link_3 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
18  cylinder 0.15 (0,0,0) (0.7810126928922115,0,0) color (0.25,0.25,0.25) decoration
19  cylinder 0.15 (0,0,0) (-0.4320680961525633,0.6214158400258425,0) color (0.25,0.25,0.25) decoration
20  cylinder 0.15 (0,0,0) (0.5462790094774429,-1.4234646622074099,-0.1879393370659243) color (0.25,0.25,0.25) decoration
21 
22  link_4 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
23  cylinder 0.15 (0,0,0) (0.7568622635248266,0,0) color (0.25,0.25,0.25) decoration
24  cylinder 0.15 (0,0,0) (-0.1036033668902426,0.8138141932363363,0) color (0.25,0.25,0.25) decoration
25 
26  link_5 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
27  cylinder 0.15 (0,0,0) (0.8203823491177165,0,0) color (0.25,0.25,0.25) decoration
28  cylinder 0.15 (0,0,0) (-0.2924365028848761,0.7902062635723126,0) color (0.25,0.25,0.25) decoration
29 
30  link_6 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
31  cylinder 0.15 (0,0,0) (0.8425823682041133,0,0) color (0.25,0.25,0.25) decoration
32  cylinder 0.15 (0,0,0) (-0.6045202199702661,0.4945059454706732,0) color (0.25,0.25,0.25) decoration
33 
34  link_7 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
35  cylinder 0.15 (0,0,0) (0.7810126928922114,0,0) color (0.25,0.25,0.25) decoration
36  cylinder 0.15 (0,0,0) (-0.4320680961525633,0.6214158400258426,0) color (0.25,0.25,0.25) decoration
37  cylinder 0.15 (0,0,0) (0.5462790094774430,-1.4234646622074094,-0.1879393370659244) color (0.25,0.25,0.25) decoration
38 
39  link_8 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
40  cylinder 0.15 (0,0,0) (0.8203823491177166,0,0) color (0.25,0.25,0.25) decoration
41  cylinder 0.15 (0,0,0) (-0.2924365028848768,0.7902062635723122,0) color (0.25,0.25,0.25) decoration
42 
43  link_9 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
44  cylinder 0.15 (0,0,0) (0.8203823491177163,0,0) color (0.25,0.25,0.25) decoration
45  cylinder 0.15 (0,0,0) (-0.0955816258817275,0.7508026629825773,0) color (0.25,0.25,0.25) decoration
46 
47  link_10 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
48  cylinder 0.15 (0,0,0) (0.7568622635248263,0,0) color (0.25,0.25,0.25) decoration
49  cylinder 0.15 (0,0,0) (-0.4458547922806502,0.6412443611129238,0) color (0.25,0.25,0.25) decoration
50  cylinder 0.15 (0,0,0) (-1.4805774767881377,-0.3640916587572178,0.1879393370659241) color (0.25,0.25,0.25) decoration
51 
52  link_11 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
53  cylinder 0.15 (0,0,0) (0.7810126928922115,0,0) color (0.25,0.25,0.25) decoration
54  cylinder 0.15 (0,0,0) (-0.6521764411837995,0.5334893970579785,0) color (0.25,0.25,0.25) decoration
55 
56  link_12 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
57  cylinder 0.15 (0,0,0) (0.8425823682041128,0,0) color (0.25,0.25,0.25) decoration
58  cylinder 0.15 (0,0,0) (-0.2847315043107421,0.7693862288843264,0) color (0.25,0.25,0.25) decoration
59 
60  link_13 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
61  cylinder 0.15 (0,0,0) (0.8203823491177168,0,0) color (0.25,0.25,0.25) decoration
62  cylinder 0.15 (0,0,0) (-0.0955816258817274,0.7508026629825773,0) color (0.25,0.25,0.25) decoration
63 
64  link_14 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
65  cylinder 0.15 (0,0,0) (0.7568622635248266,0,0) color (0.25,0.25,0.25) decoration
66  cylinder 0.15 (0,0,0) (-0.4458547922806506,0.6412443611129237,0) color (0.25,0.25,0.25) decoration
67  cylinder 0.15 (0,0,0) (-1.4805774767881377,-0.3640916587572179,0.1879393370659246) color (0.25,0.25,0.25) decoration
68 
69  link_15 : sphere 1.53 (0,0,0) color (0.25,0.25,0.25)
70  cylinder 0.15 (0,0,0) (0.7810126928922115,0,0) color (0.25,0.25,0.25) decoration
71  cylinder 0.15 (0,0,0) (-0.6521764411837995,0.5334893970579784,0) color (0.25,0.25,0.25) decoration
72 
73 [JOINTS]
74 
75  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.6407646982354331,0.0000000000000000,0.0000000000000000)
76  link_1 (1.6407646982354331,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
77 
78  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.1911632517634545,1.5016053259651545,0.0000000000000000)
79  link_7 (-0.8641361923051266,1.2428316800516850,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
80 
81  revolute: link_1 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5848730057697535,1.5804125271446243,0.0000000000000000)
82  link_2 (1.6851647364082256,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
83 
84  revolute: link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2090404399405323,0.9890118909413468,0.0000000000000000)
85  link_3 (1.5620253857844233,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
86 
87  revolute: link_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.8641361923051264,1.2428316800516850,0.0000000000000000)
88  link_4 (1.5137245270496531,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
89 
90  revolute: link_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.0925580189548860,-2.8469293244148197,-0.3758786741318484)
91  link_10 (-2.9611549535762753,-0.7281833175144355,0.3758786741318483) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
92 
93  revolute: link_4 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.2072067337804854,1.6276283864726726,0.0000000000000000)
94  link_5 (1.6407646982354329,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
95 
96  revolute: link_5 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5848730057697522,1.5804125271446252,0.0000000000000000)
97  link_6 (1.6851647364082263,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
98 
99  revolute: link_6 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2090404399405323,0.9890118909413466,0.0000000000000000)
100  link_7 (1.5620253857844228,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
101 
102  revolute: link_7 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.0925580189548860,-2.8469293244148193,-0.3758786741318488)
103  link_14 (-2.9611549535762753,-0.7281833175144358,0.3758786741318491) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
104 
105  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.6407646982354331,0.0000000000000000,0.0000000000000000)
106  link_9 (1.6407646982354329,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
107 
108  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5848730057697537,1.5804125271446243,0.0000000000000000)
109  link_15 (-1.3043528823675987,1.0669787941159568,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
110 
111  revolute: link_9 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.1911632517634546,1.5016053259651545,0.0000000000000000)
112  link_10 (1.5137245270496527,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
113 
114  revolute: link_10 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.8917095845613003,1.2824887222258476,0.0000000000000000)
115  link_11 (1.5620253857844228,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
116 
117  revolute: link_11 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.3043528823675989,1.0669787941159570,0.0000000000000000)
118  link_12 (1.6851647364082258,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
119 
120  revolute: link_12 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5694630086214840,1.5387724577686528,0.0000000000000000)
121  link_13 (1.6407646982354334,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
122 
123  revolute: link_13 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.1911632517634549,1.5016053259651541,0.0000000000000000)
124  link_14 (1.5137245270496531,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
125 
126  revolute: link_14 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.8917095845613012,1.2824887222258474,0.0000000000000000)
127  link_15 (1.5620253857844233,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
128 
129 
130 [COLLISIONS]
131 
132  do not check: all
133  check: link_0,link_1
134  check: link_0,link_2
135  check: link_0,link_3
136  check: link_0,link_4
137  check: link_0,link_5
138  check: link_0,link_6
139  check: link_0,link_7
140  check: link_0,link_8
141  check: link_0,link_9
142  check: link_0,link_10
143  check: link_0,link_11
144  check: link_0,link_12
145  check: link_0,link_13
146  check: link_0,link_14
147  check: link_0,link_15
148  check: link_1,link_2
149  check: link_1,link_3
150  check: link_1,link_4
151  check: link_1,link_5
152  check: link_1,link_6
153  check: link_1,link_7
154  check: link_1,link_8
155  check: link_1,link_9
156  check: link_1,link_10
157  check: link_1,link_11
158  check: link_1,link_12
159  check: link_1,link_13
160  check: link_1,link_14
161  check: link_1,link_15
162  check: link_2,link_3
163  check: link_2,link_4
164  check: link_2,link_5
165  check: link_2,link_6
166  check: link_2,link_7
167  check: link_2,link_8
168  check: link_2,link_9
169  check: link_2,link_10
170  check: link_2,link_11
171  check: link_2,link_12
172  check: link_2,link_13
173  check: link_2,link_14
174  check: link_2,link_15
175  check: link_3,link_4
176  check: link_3,link_5
177  check: link_3,link_6
178  check: link_3,link_7
179  check: link_3,link_8
180  check: link_3,link_9
181  check: link_3,link_10
182  check: link_3,link_11
183  check: link_3,link_12
184  check: link_3,link_13
185  check: link_3,link_14
186  check: link_3,link_15
187  check: link_4,link_5
188  check: link_4,link_6
189  check: link_4,link_7
190  check: link_4,link_8
191  check: link_4,link_9
192  check: link_4,link_10
193  check: link_4,link_11
194  check: link_4,link_12
195  check: link_4,link_13
196  check: link_4,link_14
197  check: link_4,link_15
198  check: link_5,link_6
199  check: link_5,link_7
200  check: link_5,link_8
201  check: link_5,link_9
202  check: link_5,link_10
203  check: link_5,link_11
204  check: link_5,link_12
205  check: link_5,link_13
206  check: link_5,link_14
207  check: link_5,link_15
208  check: link_6,link_7
209  check: link_6,link_8
210  check: link_6,link_9
211  check: link_6,link_10
212  check: link_6,link_11
213  check: link_6,link_12
214  check: link_6,link_13
215  check: link_6,link_14
216  check: link_6,link_15
217  check: link_7,link_8
218  check: link_7,link_9
219  check: link_7,link_10
220  check: link_7,link_11
221  check: link_7,link_12
222  check: link_7,link_13
223  check: link_7,link_14
224  check: link_7,link_15
225  check: link_8,link_9
226  check: link_8,link_10
227  check: link_8,link_11
228  check: link_8,link_12
229  check: link_8,link_13
230  check: link_8,link_14
231  check: link_8,link_15
232  check: link_9,link_10
233  check: link_9,link_11
234  check: link_9,link_12
235  check: link_9,link_13
236  check: link_9,link_14
237  check: link_9,link_15
238  check: link_10,link_11
239  check: link_10,link_12
240  check: link_10,link_13
241  check: link_10,link_14
242  check: link_10,link_15
243  check: link_11,link_12
244  check: link_11,link_13
245  check: link_11,link_14
246  check: link_11,link_15
247  check: link_12,link_13
248  check: link_12,link_14
249  check: link_12,link_15
250  check: link_13,link_14
251  check: link_13,link_15
252  check: link_14,link_15
253