| collision_spheres: | |
| base_link: | |
| - "center": [0.0, 0.0, 0.0] | |
| "radius": 0.02 | |
| link1: | |
| - "center": [0.0, 0.0, 0.0] | |
| "radius": 0.04 | |
| link2: | |
| - "center": [0.0, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.03, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.06, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.09, -0.007, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.12, -0.009, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.15, -0.011, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.18, -0.014, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.21, -0.017, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.146, -0.003, 0.0] | |
| "radius": 0.03 | |
| link3: | |
| - "center": [0.0, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.033, 0.021, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.048, 0.024, -0.0] | |
| "radius": 0.02 | |
| - "center": [-0.067, 0.033, 0.0] | |
| "radius": 0.02 | |
| - "center": [-0.08, 0.039, 0.0] | |
| "radius": 0.02 | |
| - "center": [-0.102, 0.04, -0.003] | |
| "radius": 0.02 | |
| - "center": [-0.137, 0.047, -0.003] | |
| "radius": 0.02 | |
| - "center": [-0.161, 0.052, 0.0] | |
| "radius": 0.02 | |
| - "center": [-0.17, 0.055, 0.0] | |
| "radius": 0.03 | |
| link4: | |
| - "center": [-0.005, 0.0, 0.004] | |
| "radius": 0.03 | |
| link5: | |
| - "center": [0.0, 0.064, -0.0] | |
| "radius": 0.03 | |
| link6: | |
| - "center": [0.005, 0.0, 0.03] | |
| "radius": 0.03 | |
| - "center": [0.001, 0.055, 0.055] | |
| "radius": 0.01 | |
| - "center": [0.001, 0.033, 0.054] | |
| "radius": 0.01 | |
| - "center": [-0.001, -0.037, 0.056] | |
| "radius": 0.01 | |
| link7: | |
| - "center": [-0.0, -0.008, -0.007] | |
| "radius": 0.01 | |
| - "center": [0.003, -0.047, -0.019] | |
| "radius": 0.01 | |
| link8: | |
| - "center": [-0.001, -0.031, -0.009] | |
| "radius": 0.01 | |
| - "center": [-0.001, 0.007, -0.008] | |
| "radius": 0.01 | |
| - "center": [-0.001, 0.05, -0.012] | |
| "radius": 0.01 | |
| - "center": [-0.001, 0.03, -0.011] | |
| "radius": 0.01 | |