TwoArmsA.world
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1 
3 [LINKS]
4 
5  link0
6 
7  link1: body "bodies/body2" 0.9*cyan
8  sphere 1.5 (0,0,0) black decoration
9 
10  link2: body "bodies/body3" 0.9*yellow
11  sphere 1.5 (0,-3,0) black decoration
12  sphere 1.5 (0,-3,20) black decoration
13 
14  link3: body "bodies/body2" 0.9*cyan
15  sphere 1.5 (0,0,0) black decoration
16 
17  link4: body "bodies/body3" 0.9*yellow
18  sphere 1.5 (0,-3,0) black decoration
19  sphere 1.5 (0,-3,20) black decoration
20 
21  link5: body "bodies/body4" 0.9*purple
22  body "bodies/body5" black decoration
23  body "bodies/body6" red
24  body "bodies/body7" black decoration
25  body "bodies/body8" 0.9*purple
26 
27 [JOINTS]
28 
29  REVOLUTE: link0 (30,0,0)+(0,3,0)
30  link1 ( 0,0,0)+(0,3,0)
31 
32  REVOLUTE: link1 ( 0, 0,30)+(0,3,0)
33  link2 ( 0,-3,0)+(0,3,0)
34 
35  REVOLUTE: link0 (70,0,10)+(0,3,0)
36  link3 ( 0,0, 0)+(0,3,0)
37 
38  REVOLUTE: link3 ( 0, 0,30)+(0,3,0)
39  link4 ( 0,-3, 0)+(0,3,0)
40 
41  REVOLUTE: link2 ( 0,-3,20)+(0,3,0)
42  link5 ( 0, 0, 0)+(0,3,0)
43 
44  REVOLUTE: link4 ( 0, -3,20)+(0,3,0)
45  link5 (17.5, 0,17.5)+(0,3,0)
46 
47 [OBSTACLES]
48 
49  obs1: body "bodies/obstacle1" color (0.1,0.9,0.1)
50 
51  obs2: body "bodies/obstacle2" color (0.1,0.9,0.1)
52 
53  obs3: body "bodies/obstacle3" color (0.1,0.9,0.1)
54 
55  obs4: body "bodies/obstacle4" color (0.1,0.9,0.1)
56 
57 [COLLISIONS]
58 
59  Check : all
60  Do Not Check : link1,link2
61  Do Not Check : link3,link4
62  Do Not Check : link2,link5
63  Do Not Check : link4,link5
64