collision_spheres:
  shoulder_link:
    - center: [0.0, 0.0, 0.0]
      radius: 0.0001
  upper_arm_link:
    - center: [-0.416, 0.0, 0.143]
      radius: 0.0078
    - center: [-0.015, 0.0, 0.134]
      radius: 0.0077
    - center: [-0.14, 0.0, 0.138]
      radius: 0.0062
    - center: [-0.285, -0.001, 0.139]
      radius: 0.0061
    - center: [-0.376, 0.001, 0.138]
      radius: 0.0077
    - center: [-0.222, 0.001, 0.139]
      radius: 0.0061
    - center: [-0.055, 0.008, 0.14]
      radius: 0.007
    - center: [-0.001, -0.002, 0.143]
      radius: 0.0076
  forearm_link:
    - center: [-0.01, 0.002, 0.031]
      radius: 0.0072
    - center: [-0.387, 0.0, 0.014]
      radius: 0.0057
    - center: [-0.121, 0.0, 0.006]
      radius: 0.0057
    - center: [-0.206, 0.001, 0.007]
      radius: 0.0057
    - center: [-0.312, -0.001, 0.006]
      radius: 0.0056
    - center: [-0.057, 0.003, 0.008]
      radius: 0.0065
    - center: [-0.266, 0.0, 0.006]
      radius: 0.0057
    - center: [-0.397, -0.001, -0.018]
      radius: 0.0052
    - center: [-0.164, 0.0, 0.007]
      radius: 0.0057
  wrist_1_link:
    - center: [0.0, 0.0, -0.009]
      radius: 0.0047
    - center: [0.0, 0.0, -0.052]
      radius: 0.0047
    - center: [-0.002, 0.027, -0.001]
      radius: 0.0045
    - center: [0.001, -0.01, 0.0]
      radius: 0.0046
  wrist_2_link:
    - center: [0.0, -0.01, -0.001]
      radius: 0.0047
    - center: [0.0, 0.008, -0.001]
      radius: 0.0047
    - center: [0.001, -0.001, -0.036]
      radius: 0.0047
    - center: [0.001, -0.03, 0.0]
      radius: 0.0047
  wrist_3_link:
    - center: [0.001, 0.001, -0.029]
      radius: 0.0043