torus.world
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1 
3 [CONSTANTS]
4 
5 r1:=1
6 r2:=0.5
7 
8 [LINKS]
9 
10 ground
11 
12 link1
13 
14 %link2: sphere 0.0975 (0,0,0) red
15 link2: sphere 0.0875 (0,0,0) red
16 
17 [JOINTS]
18 
19 revolute: ground (0,0,0)+(0,0,1)
20  link1 (0,0,0)+(0,0,1)
21 
22 revolute: link1 (r1,0,0)+(0,1,0)
23  link2 (r2,0,0)+(0,1,0)
24 
25 
26 [OBSTACLES]
27 
28 obs1: body "bodies/body1" green
29 obs2: body "bodies/body2" green
30 obs3: body "bodies/body3" green
31 
32 [COLLISIONS]
33 
34 Check: all
35