10 fridge_base: body
"bodies/Fridge/friA-01.off" color (0.3,0.88,1)
11 body "bodies/Fridge/friA-02.off" color (0.3,0.88,1)
12 body "bodies/Fridge/friA-03.off" color (0.3,0.88,1)
13 body "bodies/Fridge/friA-04.off" color (0.3,0.88,1)
14 body "bodies/plane.off" yellow
16 fridge_door: body "bodies/Fridge/friB-01.off" color (0.3,0.88,1)
17 body "bodies/Fridge/friB-02.off" color (0.3,0.88,1)
18 body "bodies/Fridge/friB-03.off" color (0.3,0.88,1)
20 pitcher: body "bodies/pitcher.off" color (0.25,0.25,0)
26 base_footprint: body "bodies/base_link.off" white
28 base: body "bodies/base_link.off" white
30 laser_tilt: body "bodies/laser_tilt_mount_link.off" white
32 wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
33 wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
34 wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
36 wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
37 wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
38 wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
40 wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
41 wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
42 wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
44 wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
45 wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
46 wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
48 torso: body "bodies/torso_lift_link.off" white
50 head_pan: body "bodies/head_pan_link.off" white
51 head_tilt: body "bodies/head_tilt_link.off" white
53 l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
54 l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
55 l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
56 l_upper_arm: body "bodies/l_upper_arm_link.off" white
57 l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
58 l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
59 l_forearm: body "bodies/l_forearm_link.off" white
60 l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
61 l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
62 l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
63 l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
64 l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
65 l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
66 l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
69 r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
70 r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
71 r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
72 r_upper_arm: body "bodies/r_upper_arm_link.off" white
73 r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
74 r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
75 r_forearm: body "bodies/r_forearm_link.off" white
76 r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
77 r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
78 r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
79 r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
80 r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
81 r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
82 r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
86 fix: world fridge_base Rz(Pi/2)
88 revolute: fridge_base (-0.3,-0.8,0)+(0,0,1)
89 fridge_door(-0.3,-0.8,0)+(0,0,1)
94 fix: world base_footprint Id
96 fix: base_footprint base
100 Txyz (0.09893,0,0.227)
103 Txyz(-0.01707,0,0.38145)
105 fix: head_pan head_tilt
109 fix: base wheel_rotation_1
110 Txyz (-0.2246,0.2246,0.0282)
111 fix: wheel_rotation_1 wheel_1_left
113 fix: wheel_rotation_1 wheel_1_right
116 fix: base wheel_rotation_2
117 Txyz (-0.2246,-0.2246,0.0282)
118 fix: wheel_rotation_2 wheel_2_left
120 fix: wheel_rotation_2 wheel_2_right
123 fix: base wheel_rotation_3
124 Txyz (0.2246,0.2246,0.0282)
125 fix: wheel_rotation_3 wheel_3_left
127 fix: wheel_rotation_3 wheel_3_right
130 fix: base wheel_rotation_4
131 Txyz (0.2246,-0.2246,0.0282)
132 fix: wheel_rotation_4 wheel_4_left
134 fix: wheel_rotation_4 wheel_4_right
138 prismatic: base (-0.05,0,0.739675)+(0,0,1)
139 torso (0,0,0)+(0,0,1)
142 revolute: torso (0,0.188,0)+(0,0,1)
143 l_shoulder_pan (0,0,0)+(0,0,1)
144 range [-40.9437*
DEG2RAD,130.944*DEG2RAD]
148 revolute: l_shoulder_pan (0.1,0,0)+(0,1,0)
149 l_shoulder_lift (0,0,0)+(0,1,0)
150 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
154 revolute: l_shoulder_lift (0,0,0)+(1,0,0)
155 l_upper_arm_roll (0,0,0)+(1,0,0)
156 range [-45.8366*DEG2RAD,223.454*DEG2RAD]
160 fix: l_upper_arm_roll l_upper_arm
163 revolute: l_upper_arm (0.4,0,0)+(0,1,0)
164 l_elbow_flex (0,0,0)+(0,1,0)
165 range [-133.001*DEG2RAD,0*DEG2RAD]
169 revolute: l_elbow_flex (0,0,0)+(1,0,0)
170 l_forearm_roll (0,0,0)+(1,0,0)
172 fix: l_forearm_roll l_forearm
175 revolute: l_forearm (0.321,0,0)+(0,1,0)
176 l_wrist_flex (0,0,0)+(0,1,0)
177 range [-124.905*DEG2RAD,0*DEG2RAD]
181 revolute: l_wrist_flex (0,0,0)+(1,0,0)
182 l_wrist_roll (0,0,0)+(1,0,0)
184 fix: l_wrist_roll l_gripper_palm
187 fix: l_gripper_palm l_gripper_l_finger
190 fix: l_gripper_l_finger l_gripper_l_finger_tip
191 Txyz(0.09137,0.00495,0)
193 fix: l_gripper_palm l_gripper_r_finger
194 Txyz(0.07691,-0.01,0)*Rx(pi)
196 fix: l_gripper_r_finger l_gripper_r_finger_tip
197 Txyz(0.09137,-0.00495,0)
199 revolute: torso (0,-0.188,0)+(0,0,1)
200 r_shoulder_pan (0,0,0)+(0,0,1)
201 range [-130.944*DEG2RAD,40.9437*DEG2RAD]
205 revolute: r_shoulder_pan (0.1,0,0)+(0,1,0)
206 r_shoulder_lift (0,0,0)+(0,1,0)
207 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
211 revolute: r_shoulder_lift (0,0,0)+(1,0,0)
212 r_upper_arm_roll (0,0,0)+(1,0,0)
213 range [-223.454*DEG2RAD,45.8366*DEG2RAD]
217 fix: r_upper_arm_roll r_upper_arm
220 revolute: r_upper_arm (0.4,0,0)+(0,1,0)
221 r_elbow_flex (0,0,0)+(0,1,0)
222 range [-133.001*DEG2RAD,0*DEG2RAD]
226 revolute: r_elbow_flex (0,0,0)+(1,0,0)
227 r_forearm_roll (0,0,0)+(1,0,0)
229 fix: r_forearm_roll r_forearm
232 revolute: r_forearm (0.321,0,0)+(0,1,0)
233 r_wrist_flex (0,0,0)+(0,1,0)
234 range [-124.905*DEG2RAD,0*DEG2RAD]
238 revolute: r_wrist_flex (0,0,0)+(1,0,0)
239 r_wrist_roll (0,0,0)+(1,0,0)
241 fix: r_wrist_roll r_gripper_palm
244 fix: r_gripper_palm r_gripper_l_finger
245 Txyz(0.07691,0.01,0)*Rz(pi/18)
247 fix: r_gripper_l_finger r_gripper_l_finger_tip
248 Txyz(0.09137,0.00495,0)
250 fix: r_gripper_palm r_gripper_r_finger
251 Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18)
253 fix: r_gripper_r_finger r_gripper_r_finger_tip
254 Txyz(0.09137,-0.00495,0)
256 revolute: r_wrist_roll (0.18,0,0)+(0,0,1)
257 fridge_door(0.225,-0.748,0.93)+(0,0,1)
259 fix: l_wrist_roll pitcher
260 Txyz(0.355,0.08,0)*Rz(Pi)
262 prismatic: world (0,0,0)+(1,0,0)
263 pitcher_virtual1 (0,0,0)+(1,0,0)
266 prismatic: pitcher_virtual1 (0,0,0)+(0,1,0)
267 pitcher_virtual2 (0,0,0)+(0,1,0)
270 prismatic: pitcher_virtual2 (0,0,0)+(0,0,1)
271 pitcher_virtual3 (0,0,0)+(0,0,1)
274 fix: pitcher_virtual3 pitcher
280 check : fridge_door,pitcher
281 check : fridge_base, pitcher
282 check : r_gripper_palm, fridge_door
283 check : r_gripper_l_finger, fridge_door
284 check : r_gripper_r_finger, fridge_door
285 check : pitcher, torso
286 check : r_shoulder_pan, fridge_door
287 check : r_shoulder_lift, fridge_door
288 check : r_upper_arm_roll, fridge_door
289 check : r_upper_arm, fridge_door
290 check : r_elbow_flex, fridge_door
291 check : r_forearm_roll, fridge_door
292 check : r_forearm, fridge_door
293 check : r_wrist_flex, fridge_door
294 check : r_wrist_roll , fridge_door
295 check : l_shoulder_pan, fridge_door
296 check : l_shoulder_lift, fridge_door
297 check : l_upper_arm_roll, fridge_door
298 check : l_upper_arm, fridge_door
299 check : l_elbow_flex, fridge_door
300 check : l_forearm_roll, fridge_door
301 check : l_forearm, fridge_door
302 check : l_wrist_flex, fridge_door
303 check : l_wrist_roll , fridge_door
305 check : l_shoulder_pan, r_shoulder_pan
306 check : l_shoulder_lift, r_shoulder_pan
307 check : l_upper_arm_roll, r_shoulder_pan
308 check : l_upper_arm, r_shoulder_pan
309 check : l_elbow_flex, r_shoulder_pan
310 check : l_forearm_roll, r_shoulder_pan
311 check : l_forearm, r_shoulder_pan
312 check : l_wrist_flex, r_shoulder_pan
313 check : l_wrist_roll, r_shoulder_pan
315 check : l_shoulder_pan, r_upper_arm_roll
316 check : l_shoulder_lift, r_upper_arm_roll
317 check : l_upper_arm_roll, r_upper_arm_roll
318 check : l_upper_arm, r_upper_arm_roll
319 check : l_elbow_flex, r_upper_arm_roll
320 check : l_forearm_roll, r_upper_arm_roll
321 check : l_forearm, r_upper_arm_roll
322 check : l_wrist_flex, r_upper_arm_roll
323 check : l_wrist_roll, r_upper_arm_roll
325 check : l_shoulder_pan, r_shoulder_lift
326 check : l_shoulder_lift, r_shoulder_lift
327 check : l_upper_arm_roll, r_shoulder_lift
328 check : l_upper_arm, r_shoulder_lift
329 check : l_elbow_flex, r_shoulder_lift
330 check : l_forearm_roll, r_shoulder_lift
331 check : l_forearm, r_shoulder_lift
332 check : l_wrist_flex, r_shoulder_lift
333 check : l_wrist_roll, r_shoulder_lift
335 check : l_shoulder_pan, r_upper_arm
336 check : l_shoulder_lift, r_upper_arm
337 check : l_upper_arm_roll, r_upper_arm
338 check : l_upper_arm, r_upper_arm
339 check : l_elbow_flex, r_upper_arm
340 check : l_forearm_roll, r_upper_arm
341 check : l_forearm, r_upper_arm
342 check : l_wrist_flex, r_upper_arm
343 check : l_wrist_roll, r_upper_arm
345 check : l_shoulder_pan, r_elbow_flex
346 check : l_shoulder_lift, r_elbow_flex
347 check : l_upper_arm_roll, r_elbow_flex
348 check : l_upper_arm, r_elbow_flex
349 check : l_elbow_flex, r_elbow_flex
350 check : l_forearm_roll, r_elbow_flex
351 check : l_forearm, r_elbow_flex
352 check : l_wrist_flex, r_elbow_flex
353 check : l_wrist_roll, r_elbow_flex
355 check : l_shoulder_pan, r_forearm_roll
356 check : l_shoulder_lift, r_forearm_roll
357 check : l_upper_arm_roll, r_forearm_roll
358 check : l_upper_arm, r_forearm_roll
359 check : l_elbow_flex, r_forearm_roll
360 check : l_forearm_roll, r_forearm_roll
361 check : l_forearm, r_forearm_roll
362 check : l_wrist_flex, r_forearm_roll
363 check : l_wrist_roll, r_forearm_roll
365 check : l_shoulder_pan, r_forearm
366 check : l_shoulder_lift, r_forearm
367 check : l_upper_arm_roll, r_forearm
368 check : l_upper_arm, r_forearm
369 check : l_elbow_flex, r_forearm
370 check : l_forearm_roll, r_forearm
371 check : l_forearm, r_forearm
372 check : l_wrist_flex, r_forearm
373 check : l_wrist_roll, r_forearm
375 check : l_shoulder_pan, r_wrist_flex
376 check : l_shoulder_lift, r_wrist_flex
377 check : l_upper_arm_roll, r_wrist_flex
378 check : l_upper_arm, r_wrist_flex
379 check : l_elbow_flex, r_wrist_flex
380 check : l_forearm_roll, r_wrist_flex
381 check : l_forearm, r_wrist_flex
382 check : l_wrist_flex, r_wrist_flex
383 check : l_wrist_roll, r_wrist_flex
385 check : l_shoulder_pan, r_wrist_roll
386 check : l_shoulder_lift, r_wrist_roll
387 check : l_upper_arm_roll, r_wrist_roll
388 check : l_upper_arm, r_wrist_roll
389 check : l_elbow_flex, r_wrist_roll
390 check : l_forearm_roll, r_wrist_roll
391 check : l_forearm, r_wrist_roll
392 check : l_wrist_flex, r_wrist_roll
393 check : l_wrist_roll, r_wrist_roll
395 check : l_shoulder_pan, pitcher
396 check : l_shoulder_lift, pitcher
397 check : l_upper_arm_roll, pitcher
398 check : l_upper_arm, pitcher
399 check : l_elbow_flex, pitcher
400 check : l_forearm_roll, pitcher
401 check : l_forearm, pitcher
402 check : l_wrist_flex, pitcher
403 check : l_wrist_roll, pitcher
405 check : l_shoulder_pan, fridge_base
406 check : l_shoulder_lift, fridge_base
407 check : l_upper_arm_roll, fridge_base
408 check : l_upper_arm, fridge_base
409 check : l_elbow_flex, fridge_base
410 check : l_forearm_roll, fridge_base
411 check : l_forearm, fridge_base
412 check : l_wrist_flex, fridge_base
413 check : l_wrist_roll, fridge_base
414 check : l_gripper_palm, fridge_base
415 check : l_gripper_l_finger, fridge_base
416 check : l_gripper_l_finger_tip, fridge_base
417 check : l_gripper_r_finger, fridge_base
418 check : l_gripper_r_finger_tip, fridge_base
420 check : r_shoulder_pan, pitcher
421 check : r_shoulder_lift, pitcher
422 check : r_upper_arm_roll, pitcher
423 check : r_upper_arm, pitcher
424 check : r_elbow_flex, pitcher
425 check : r_forearm_roll, pitcher
426 check : r_forearm, pitcher
427 check : r_wrist_flex, pitcher
428 check : r_wrist_roll , pitcher
429 check : r_gripper_palm, pitcher
430 check : r_gripper_l_finger, pitcher
431 check : r_gripper_l_finger_tip, pitcher
432 check : r_gripper_r_finger, pitcher
433 check : r_gripper_r_finger_tip, pitcher
435 check : head_pan, pitcher
436 check : head_tilt, pitcher
#define DEG2RAD
Constant to transform from degrees to radiants.
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