text: from klampt import WorldModel
  from klampt import vis
  
  def load_model_world():
      world = WorldModel()
      dup_world = WorldModel()
  
      status = dup_world.readFile("world.xml")
      if not status:
          print("file not read")
          exit(-1)
  
      link_names = ['ra_base_link', 'ra_shoulder_link', 'ra_upper_arm_link',\
                  'ra_forearm_link', 'ra_wrist_1_link', 'ra_wrist_2_link', 'ra_wrist_3_link']
  
      main_robot = dup_world.robot('Shadowhand')
      dup_robot = dup_world.robot('Shadowhand_dup')
      for i in range(main_robot.numLinks()):
          if main_robot.link(i).getName() in link_names:
              main_robot.link(i).geometry().set(dup_robot.link(i).geometry().clone())
      
      world.add('Shadowhand', main_robot)
      return world
  
  if __name__ == '__main__':
      robot_world = load_model_world()
      vis.add("world", robot_world)
  
      vis.run()
  