assets/embodiments/franka/collision_franka.yml

##
## Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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## documentation and any modifications thereto. Any use, reproduction,
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## without an express license agreement from NVIDIA CORPORATION or
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##
collision_spheres:
    panda_link0:
        - "center": [0.0, 0.0, 0.085]
          "radius": 0.03 #0.07
        - "center": [-0.1, -0.0, 0.085]
          "radius": 0.03 #0.07
    panda_link1:
        - "center": [0.0, -0.08, 0.0]
          "radius": 0.055
        - "center": [0.0, -0.03, 0.0]
          "radius": 0.06
        - "center": [0.0, 0.0, -0.12]
          "radius": 0.06
        - "center": [0.0, 0.0, -0.17]
          "radius": 0.06
    panda_link2:
        - "center": [0.0, 0.0, 0.03]
          "radius": 0.055
        - "center": [0.0, 0.0, 0.08]
          "radius": 0.055
        - "center": [0.0, -0.12, 0.0]
          "radius": 0.055
        - "center": [0.0, -0.17, 0.0]
          "radius": 0.055
    panda_link3:
        - "center": [0.0, 0.0, -0.06]
          "radius": 0.05
        - "center": [0.0, 0.0, -0.1]
          "radius": 0.06
        - "center": [0.08, 0.06, 0.0]
          "radius": 0.052
        - "center": [0.08, 0.02, 0.0]
          "radius": 0.052
    panda_link4:
        - "center": [0.0, 0.0, 0.02]
          "radius": 0.052
        - "center": [0.0, 0.0, 0.06]
          "radius": 0.052
        - "center": [-0.08, 0.095, 0.0]
          "radius": 0.055
        - "center": [-0.08, 0.06, 0.0]
          "radius": 0.052
    panda_link5:
        - "center": [0.0, 0.03, 0.0]
          "radius": 0.05
        - "center": [0.0, 0.082, 0.0]
          "radius": 0.05
        - "center": [0.0, 0.000, -0.22]
          "radius": 0.05
        - "center": [0.0, 0.052, -0.18]
          "radius": 0.04
        - "center": [0.01, 0.08, -0.14]
          "radius": 0.022
        - "center": [0.01, 0.085, -0.11]
          "radius": 0.022
        - "center": [0.01, 0.09, -0.08]
          "radius": 0.022
        - "center": [0.01, 0.095, -0.05]
          "radius": 0.022
        - "center": [-0.01, 0.08, -0.14]
          "radius": 0.022
        - "center": [-0.01, 0.085, -0.11]
          "radius": 0.022
        - "center": [-0.01, 0.09, -0.08]
          "radius": 0.022
        - "center": [-0.01, 0.095, -0.05]
          "radius": 0.022
        - "center": [0.0, -0.009, 0.0]
          "radius": 0.05
    panda_link6:
        - "center": [0.085, 0.035, 0.0]
          "radius": 0.045 
        - "center": [0.085, 0.0, 0.0]
          "radius": 0.045 
        - "center": [0.085, -0.015, 0.0]
          "radius": 0.045 
    panda_link7:
        - "center": [0.0, 0.0, 0.07]
          "radius": 0.045
        - "center": [0.02, 0.04, 0.08]
          "radius": 0.024
        - "center": [0.04, 0.02, 0.08]
          "radius": 0.024
        - "center": [0.04, 0.06, 0.085]
          "radius": 0.02
        - "center": [0.06, 0.04, 0.085]
          "radius": 0.02
    panda_hand:
        - "center": [0.0, -0.075, 0.01]
          "radius": 0.023
        - "center": [0.0, -0.045, 0.01]
          "radius": 0.023
        - "center": [0.0, -0.015, 0.01]
          "radius": 0.023
        - "center": [0.0, 0.015, 0.01]
          "radius": 0.023
        - "center": [0.0, 0.045, 0.01]
          "radius": 0.023
        - "center": [0.0, 0.075, 0.01]
          "radius": 0.023
        - "center": [0.0, -0.08, 0.03]
          "radius": 0.022
        - "center": [0.0, -0.045, 0.03]
          "radius": 0.022
        - "center": [0.0, -0.015, 0.03]
          "radius": 0.022
        - "center": [0.0, 0.015, 0.03]
          "radius": 0.022
        - "center": [0.0, 0.045, 0.03]
          "radius": 0.022
        - "center": [0.0, 0.08, 0.03]
          "radius": 0.022
        - "center": [0.0, -0.08, 0.045]
          "radius": 0.022
        - "center": [0.0, -0.045, 0.045]
          "radius": 0.022
        - "center": [0.0, -0.015, 0.045]
          "radius": 0.022
        - "center": [0.0, 0.015, 0.045]
          "radius": 0.022
        - "center": [0.0, 0.045, 0.045]
          "radius": 0.022
        - "center": [0.0, 0.08, 0.045]
          "radius": 0.022