| collision_spheres: | |
| base_link: | |
| - "center": [-0.002, 0.004, 0.028] | |
| "radius": 0.01504 | |
| - "center": [-0.017, 0.0, 0.027] | |
| "radius": 0.01423 | |
| - "center": [0.012, 0.012, 0.028] | |
| "radius": 0.01423 | |
| - "center": [0.008, -0.016, 0.019] | |
| "radius": 0.01342 | |
| - "center": [0.015, -0.009, 0.022] | |
| "radius": 0.01342 | |
| - "center": [-0.015, -0.009, 0.021] | |
| "radius": 0.01342 | |
| - "center": [0.017, 0.002, 0.021] | |
| "radius": 0.01342 | |
| - "center": [0.005, 0.017, 0.025] | |
| "radius": 0.01342 | |
| link1: | |
| - "center": [-0.013, -0.035, 0.006] | |
| "radius": 0.0145 | |
| - "center": [0.011, -0.035, 0.005] | |
| "radius": 0.0145 | |
| - "center": [0.004, -0.035, 0.008] | |
| "radius": 0.01362 | |
| link2: | |
| - "center": [-0.257, 0.0, 0.0] | |
| "radius": 0.04 | |
| - "center": [-0.198, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.164, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.009, 0.006, -0.015] | |
| "radius": 0.01357 | |
| - "center": [-0.26, 0.008, 0.017] | |
| "radius": 0.01357 | |
| - "center": [-0.125, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.083, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [-0.044, 0.0, 0.0] | |
| "radius": 0.03 | |
| - "center": [0.0, 0.0, 0.0] | |
| "radius": 0.03 | |
| link3: | |
| - "center": [0.241, -0.0, -0.056] | |
| "radius": 0.03 | |
| - "center": [0.197, -0.0, -0.053] | |
| "radius": 0.02 | |
| - "center": [0.157, -0.0, -0.054] | |
| "radius": 0.02 | |
| - "center": [0.122, -0.0, -0.055] | |
| "radius": 0.02 | |
| - "center": [0.108, -0.0, -0.051] | |
| "radius": 0.02 | |
| - "center": [0.071, -0.0, -0.05] | |
| "radius": 0.02 | |
| - "center": [0.058, -0.0, -0.051] | |
| "radius": 0.02 | |
| link4: | |
| - "center": [0.066, -0.0, -0.065] | |
| "radius": 0.03 | |
| link5: | |
| - "center": [0.002, 0.0, 0.084] | |
| "radius": 0.03 | |
| link6: | |
| - "center": [0.037, 0.001, 0.004] | |
| "radius": 0.02744 | |
| - "center": [0.036, 0.004, -0.01] | |
| "radius": 0.02666 | |
| - "center": [0.036, -0.012, 0.003] | |
| "radius": 0.02587 | |
| - "center": [0.07, 0.072, 0.0] | |
| "radius": 0.01 | |
| - "center": [0.068, 0.047, 0.0] | |
| "radius": 0.01 | |
| - "center": [0.07, -0.073, 0.0] | |
| "radius": 0.01 | |
| - "center": [0.069, -0.052, 0.0] | |
| "radius": 0.01 | |
| - "center": [0.069, 0.025, 0.0] | |
| "radius": 0.01 | |
| - "center": [0.071, -0.036, 0.0] | |
| "radius": 0.01 | |