assets/embodiments/piper-assembly/assembly/collision_piper_dynamicaug.yml

collision_spheres:
  piper_description_v100:
    - center: [0.0, 0.0, 0.0]
      radius: 0.02
  piper_description_v100_link1:
    - center: [0.0, 0.0, 0.0]
      radius: 0.04
  piper_description_v100_link2:
    - center: [0.0, 0.0, 0.0]
      radius: 0.03
    - center: [0.03, 0.0, 0.0]
      radius: 0.03
    - center: [0.06, 0.0, 0.0]
      radius: 0.03
    - center: [0.09, -0.007, 0.0]
      radius: 0.03
    - center: [0.12, -0.009, 0.0]
      radius: 0.03
    - center: [0.15, -0.011, 0.0]
      radius: 0.03
    - center: [0.18, -0.014, 0.0]
      radius: 0.03
    - center: [0.21, -0.017, 0.0]
      radius: 0.03
    - center: [0.146, -0.003, 0.0]
      radius: 0.03
  piper_description_v100_link3:
    - center: [0.0, 0.0, 0.0]
      radius: 0.03
    - center: [-0.033, 0.021, 0.0]
      radius: 0.03
    - center: [-0.048, 0.024, -0.0]
      radius: 0.02
    - center: [-0.067, 0.033, 0.0]
      radius: 0.02
    - center: [-0.08, 0.039, 0.0]
      radius: 0.02
    - center: [-0.102, 0.04, -0.003]
      radius: 0.02
    - center: [-0.137, 0.047, -0.003]
      radius: 0.02
    - center: [-0.161, 0.052, 0.0]
      radius: 0.02
    - center: [-0.17, 0.055, 0.0]
      radius: 0.03
  piper_description_v100_link4:
    - center: [-0.005, 0.0, 0.004]
      radius: 0.03
  piper_description_v100_link5:
    - center: [0.0, 0.064, -0.0]
      radius: 0.03
  piper_description_v100_link6:
    - center: [0.005, 0.0, 0.03]
      radius: 0.03
    - center: [0.001, 0.055, 0.055]
      radius: 0.01
    - center: [0.001, 0.033, 0.054]
      radius: 0.01
    - center: [-0.001, -0.037, 0.056]
      radius: 0.01
  piper_description_v100_link7:
    - center: [-0.0, -0.008, -0.007]
      radius: 0.01
    - center: [0.003, -0.047, -0.019]
      radius: 0.01
  piper_description_v100_link8:
    - center: [-0.001, -0.031, -0.009]
      radius: 0.01
    - center: [-0.001, 0.007, -0.008]
      radius: 0.01
    - center: [-0.001, 0.05, -0.012]
      radius: 0.01
    - center: [-0.001, 0.03, -0.011]
      radius: 0.01