example5_1D.world
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1 
3 [LINKS]
4 
5  link_0 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
6  cylinder 0.15 (0,0,0) (0.8126661536349812,0,0) color (0.2,0.6,0.6) decoration
7  cylinder 0.15 (0,0,0) (-0.6280417075435664,0.4955273445070794,0) color (0.2,0.6,0.6) decoration
8 
9  link_1 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
10  cylinder 0.15 (0,0,0) (0.8126661536349812,0,0) color (0.2,0.6,0.6) decoration
11  cylinder 0.15 (0,0,0) (-0.2621891050344393,0.6857341967389471,0) color (0.2,0.6,0.6) decoration
12 
13  link_2 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
14  cylinder 0.15 (0,0,0) (0.7341488373456500,0,0) color (0.2,0.6,0.6) decoration
15  cylinder 0.15 (0,0,0) (0.0058938090998926,0.7999681234791615,0) color (0.2,0.6,0.6) decoration
16  cylinder 0.15 (0,0,0) (-0.0672890488437794,-0.5225429921031678,-0.3844542113377361) color (0.2,0.6,0.6) decoration
17 
18  link_3 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
19  cylinder 0.15 (0,0,0) (0.7999898346657142,0,0) color (0.2,0.6,0.6) decoration
20  cylinder 0.15 (0,0,0) (-0.6379934052600154,0.5033792726251300,0) color (0.2,0.6,0.6) decoration
21 
22  link_4 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
23  cylinder 0.15 (0,0,0) (0.8126661536349814,0,0) color (0.2,0.6,0.6) decoration
24  cylinder 0.15 (0,0,0) (-0.2621891050344395,0.6857341967389471,0) color (0.2,0.6,0.6) decoration
25 
26  link_5 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
27  cylinder 0.15 (0,0,0) (0.7341488373456497,0,0) color (0.2,0.6,0.6) decoration
28  cylinder 0.15 (0,0,0) (0.0058938090998927,0.7999681234791611,0) color (0.2,0.6,0.6) decoration
29  cylinder 0.15 (0,0,0) (-0.0672890488437796,-0.5225429921031675,-0.3844542113377364) color (0.2,0.6,0.6) decoration
30 
31  link_6 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
32  cylinder 0.15 (0,0,0) (0.8207698006192578,0,0) color (0.2,0.6,0.6) decoration
33  cylinder 0.15 (0,0,0) (-0.6080726523676278,0.5111429915894621,0) color (0.2,0.6,0.6) decoration
34 
35  link_7 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
36  cylinder 0.15 (0,0,0) (0.8207698006192580,0,0) color (0.2,0.6,0.6) decoration
37  cylinder 0.15 (0,0,0) (-0.2685589927682408,0.7241916024254867,0) color (0.2,0.6,0.6) decoration
38 
39  link_8 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
40  cylinder 0.15 (0,0,0) (0.7723842370350948,0,0) color (0.2,0.6,0.6) decoration
41  cylinder 0.15 (0,0,0) (0.0565147940510127,0.7923544575894034,0) color (0.2,0.6,0.6) decoration
42  cylinder 0.15 (0,0,0) (0.1739717389633004,-0.1055495821735756,0.4682092168523748) color (0.2,0.6,0.6) decoration
43 
44  link_9 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
45  cylinder 0.15 (0,0,0) (0.7943673636350035,0,0) color (0.2,0.6,0.6) decoration
46  cylinder 0.15 (0,0,0) (-0.6282832005609965,0.5281318826783777,0) color (0.2,0.6,0.6) decoration
47 
48  link_10 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
49  cylinder 0.15 (0,0,0) (0.8207698006192582,0,0) color (0.2,0.6,0.6) decoration
50  cylinder 0.15 (0,0,0) (-0.2685589927682409,0.7241916024254869,0) color (0.2,0.6,0.6) decoration
51 
52  link_11 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
53  cylinder 0.15 (0,0,0) (0.7723842370350953,0,0) color (0.2,0.6,0.6) decoration
54  cylinder 0.15 (0,0,0) (0.0565147940510132,0.7923544575894037,0) color (0.2,0.6,0.6) decoration
55  cylinder 0.15 (0,0,0) (0.1739717389633008,-0.1055495821735759,0.4682092168523750) color (0.2,0.6,0.6) decoration
56 
57  link_12 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
58  cylinder 0.15 (0,0,0) (0.6522147156464294,0,0) color (0.2,0.6,0.6) decoration
59  cylinder 0.15 (0,0,0) (-0.4180371291875528,0.4582641030160696,0) color (0.2,0.6,0.6) decoration
60 
61  link_13 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
62  cylinder 0.15 (0,0,0) (0.6202910844857386,0,0) color (0.2,0.6,0.6) decoration
63  cylinder 0.15 (0,0,0) (-0.4234440271953417,0.2851699613091045,0) color (0.2,0.6,0.6) decoration
64 
65  link_14 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
66  cylinder 0.15 (0,0,0) (0.6522147156464295,0,0) color (0.2,0.6,0.6) decoration
67  cylinder 0.15 (0,0,0) (-0.4180371291875525,0.4582641030160696,0) color (0.2,0.6,0.6) decoration
68 
69  link_15 : sphere 0.425 (0,0,0) color (0.2,0.6,0.6)
70  cylinder 0.15 (0,0,0) (0.6202910844857382,0,0) color (0.2,0.6,0.6) decoration
71  cylinder 0.15 (0,0,0) (-0.4234440271953424,0.2851699613091042,0) color (0.2,0.6,0.6) decoration
72 
73 [JOINTS]
74 
75  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.6253323072699624,0.0000000000000000,0.0000000000000000)
76  link_1 (1.6253323072699626,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
77 
78  revolute: link_0 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2560834150871327,0.9910546890141587,0.0000000000000000)
79  link_5 (0.0117876181997853,1.5999362469583223,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
80 
81  revolute: link_1 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5243782100688786,1.3714683934778942,0.0000000000000000)
82  link_2 (1.4682976746912995,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
83 
84  revolute: link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0117876181997849,1.5999362469583227,0.0000000000000000)
85  link_3 (1.5999796693314283,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
86 
87  revolute: link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.1345780976875591,-1.0450859842063358,-0.7689084226754720)
88  link_14 (1.3044294312928588,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
89 
90  revolute: link_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2759868105200307,1.0067585452502601,0.0000000000000000)
91  link_4 (1.6253323072699628,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
92 
93  revolute: link_4 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5243782100688790,1.3714683934778944,0.0000000000000000)
94  link_5 (1.4682976746912995,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
95 
96  revolute: link_5 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.1345780976875592,-1.0450859842063349,-0.7689084226754728)
97  link_12 (1.3044294312928586,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
98 
99  revolute: link_6 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (1.6415396012385155,0.0000000000000000,0.0000000000000000)
100  link_7 (1.6415396012385157,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
101 
102  revolute: link_6 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2161453047352553,1.0222859831789239,0.0000000000000000)
103  link_11 (0.1130295881020265,1.5847089151788074,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
104 
105  revolute: link_7 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5371179855364817,1.4483832048509735,0.0000000000000000)
106  link_8 (1.5447684740701901,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
107 
108  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.1130295881020258,1.5847089151788067,0.0000000000000000)
109  link_9 (1.5887347272700070,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
110 
111  revolute: link_8 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.3479434779266013,-0.2110991643471511,0.9364184337047492)
112  link_15 (-0.8468880543906847,0.5703399226182082,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
113 
114  revolute: link_9 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-1.2565664011219930,1.0562637653567555,0.0000000000000000)
115  link_10 (1.6415396012385166,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
116 
117  revolute: link_10 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.5371179855364816,1.4483832048509737,0.0000000000000000)
118  link_11 (1.5447684740701906,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
119 
120  revolute: link_11 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.3479434779266015,-0.2110991643471518,0.9364184337047496)
121  link_13 (-0.8468880543906834,0.5703399226182091,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
122 
123  revolute: link_14 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.8360742583751053,0.9165282060321390,0.0000000000000000)
124  link_15 (1.2405821689714764,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
125 
126  revolute: link_12 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (-0.8360742583751057,0.9165282060321389,0.0000000000000000)
127  link_13 (1.2405821689714771,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,0.0000000000000000)
128 
129 [COLLISIONS]
130 
131  do not check: all
132  check: link_0,link_1
133  check: link_0,link_2
134  check: link_0,link_3
135  check: link_0,link_4
136  check: link_0,link_5
137  check: link_0,link_6
138  check: link_0,link_7
139  check: link_0,link_8
140  check: link_0,link_9
141  check: link_0,link_10
142  check: link_0,link_11
143  check: link_0,link_12
144  check: link_0,link_13
145  check: link_0,link_14
146  check: link_0,link_15
147  check: link_1,link_2
148  check: link_1,link_3
149  check: link_1,link_4
150  check: link_1,link_5
151  check: link_1,link_6
152  check: link_1,link_7
153  check: link_1,link_8
154  check: link_1,link_9
155  check: link_1,link_10
156  check: link_1,link_11
157  check: link_1,link_12
158  check: link_1,link_13
159  check: link_1,link_14
160  check: link_1,link_15
161  check: link_2,link_3
162  check: link_2,link_4
163  check: link_2,link_5
164  check: link_2,link_6
165  check: link_2,link_7
166  check: link_2,link_8
167  check: link_2,link_9
168  check: link_2,link_10
169  check: link_2,link_11
170  check: link_2,link_12
171  check: link_2,link_13
172  check: link_2,link_14
173  check: link_2,link_15
174  check: link_3,link_4
175  check: link_3,link_5
176  check: link_3,link_6
177  check: link_3,link_7
178  check: link_3,link_8
179  check: link_3,link_9
180  check: link_3,link_10
181  check: link_3,link_11
182  check: link_3,link_12
183  check: link_3,link_13
184  check: link_3,link_14
185  check: link_3,link_15
186  check: link_4,link_5
187  check: link_4,link_6
188  check: link_4,link_7
189  check: link_4,link_8
190  check: link_4,link_9
191  check: link_4,link_10
192  check: link_4,link_11
193  check: link_4,link_12
194  check: link_4,link_13
195  check: link_4,link_14
196  check: link_4,link_15
197  check: link_5,link_6
198  check: link_5,link_7
199  check: link_5,link_8
200  check: link_5,link_9
201  check: link_5,link_10
202  check: link_5,link_11
203  check: link_5,link_12
204  check: link_5,link_13
205  check: link_5,link_14
206  check: link_5,link_15
207  check: link_6,link_7
208  check: link_6,link_8
209  check: link_6,link_9
210  check: link_6,link_10
211  check: link_6,link_11
212  check: link_6,link_12
213  check: link_6,link_13
214  check: link_6,link_14
215  check: link_6,link_15
216  check: link_7,link_8
217  check: link_7,link_9
218  check: link_7,link_10
219  check: link_7,link_11
220  check: link_7,link_12
221  check: link_7,link_13
222  check: link_7,link_14
223  check: link_7,link_15
224  check: link_8,link_9
225  check: link_8,link_10
226  check: link_8,link_11
227  check: link_8,link_12
228  check: link_8,link_13
229  check: link_8,link_14
230  check: link_8,link_15
231  check: link_9,link_10
232  check: link_9,link_11
233  check: link_9,link_12
234  check: link_9,link_13
235  check: link_9,link_14
236  check: link_9,link_15
237  check: link_10,link_11
238  check: link_10,link_12
239  check: link_10,link_13
240  check: link_10,link_14
241  check: link_10,link_15
242  check: link_11,link_12
243  check: link_11,link_13
244  check: link_11,link_14
245  check: link_11,link_15
246  check: link_12,link_13
247  check: link_12,link_14
248  check: link_12,link_15
249  check: link_13,link_14
250  check: link_13,link_15
251  check: link_14,link_15
252