TwoArmsB.world
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1 
2 [LINKS]
3 
4  link0
5 
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 
15  link3: body "bodies/body2" 0.9*cyan
16  sphere 1.5 (0,0,0) black decoration
17 
18 
19  link4: body "bodies/body3" 0.9*yellow
20  sphere 1.5 (0,-3,0) black decoration
21  sphere 1.5 (0,-3,20) black decoration
22 
23  link5: body "bodies/body4" 0.9*purple
24  body "bodies/body5" black decoration
25  body "bodies/body6" red
26  body "bodies/body7" black decoration
27  body "bodies/body8" 0.9*purple
28 
29 [JOINTS]
30 
31  REVOLUTE: link0 (30,0,0)+(0,3,0)
32  link1 ( 0,0,0)+(0,3,0)
33 
34  REVOLUTE: link1 ( 0, 0,30)+(0,3,0)
35  link2 ( 0,-3,0)+(0,3,0)
36 
37  REVOLUTE: link0 (70,0,10)+(0,3,0)
38  link3 ( 0,0, 0)+(0,3,0)
39 
40  REVOLUTE: link3 ( 0, 0,30)+(0,3,0)
41  link4 ( 0,-3, 0)+(0,3,0)
42 
43  REVOLUTE: link2 ( 0,-3,20)+(0,3,0)
44  link5 ( 0, 0, 0)+(0,3,0)
45 
46  REVOLUTE: link4 ( 0, -3,20)+(0,3,0)
47  link5 (17.5, 0,17.5)+(0,3,0)
48 
49 [OBSTACLES]
50 
51  obs1: body "bodies/obstacle1" color (0.1,0.9,0.1)
52 
53  obs2: body "bodies/obstacle2" color (0.1,0.9,0.1)
54 
55  obs3: body "bodies/obstacle3" color (0.1,0.9,0.1)
56 
57  obs4: body "bodies/obstacle4" color (0.1,0.9,0.1)
58 
59  obs5: body "bodies/obstacle5" color (0.1,0.9,0.1)
60 
61 
62 [COLLISIONS]
63 
64  Check : all
65  Do Not Check : link1,link2
66  Do Not Check : link3,link4
67  Do Not Check : link2,link5
68  Do Not Check : link4,link5
69 
70