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11 table_bases: body "bodies/table_simple" color (0.25,0.25,0)
12 cylinder 0.03 (0.8,-0.5,0) (0.8,-0.5,0.8) blue
13 cylinder 0.03 (0.8,0.5,0) (0.8,0.5,0.8) blue
14 cylinder 0.03 (1.3,-0.5,0) (1.3,-0.5,0.8) blue
15 cylinder 0.03 (1.3,0.5,0) (1.3,0.5,0.8) blue
16 body "bodies/plane.off" yellow % color (0.8,0.8,0.8) decoration
19 box_object: body "bodies/box1.off"
22 base_footprint: body "bodies/base_link.off" white
24 base: body "bodies/base_link.off" white
26 laser_tilt: body "bodies/laser_tilt_mount_link.off" white
28 wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
29 wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
30 wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
32 wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
33 wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
34 wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
36 wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
37 wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
38 wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
40 wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
41 wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
42 wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
44 torso: body "bodies/torso_lift_link.off" white
46 head_pan: body "bodies/head_pan_link.off" white
47 head_tilt: body "bodies/head_tilt_link.off" white
49 l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
50 l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
51 l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
52 l_upper_arm: body "bodies/l_upper_arm_link.off" white
53 l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
54 l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
55 l_forearm: body "bodies/l_forearm_link.off" white
56 l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
57 l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
58 l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
59 l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
60 l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
61 l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
62 l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
65 r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
66 r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
67 r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
68 r_upper_arm: body "bodies/r_upper_arm_link.off" white
69 r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
70 r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
71 r_forearm: body "bodies/r_forearm_link.off" white
72 r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
73 r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
74 r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
75 r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
76 r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
77 r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
78 r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
82 FIX: world base_footprint Id
84 FIX: base_footprint base
88 Txyz (0.09893,0,0.227)% (0.275,0,0.252)
91 Txyz(-0.01707,0,0.38145)
93 FIX: head_pan head_tilt
97 FIX: base wheel_rotation_1
98 Txyz (-0.2246,0.2246,0.0282)
99 FIX: wheel_rotation_1 wheel_1_left
101 FIX: wheel_rotation_1 wheel_1_right
104 FIX: base wheel_rotation_2
105 Txyz (-0.2246,-0.2246,0.0282)
106 FIX: wheel_rotation_2 wheel_2_left
108 FIX: wheel_rotation_2 wheel_2_right
111 FIX: base wheel_rotation_3
112 Txyz (0.2246,0.2246,0.0282)
113 FIX: wheel_rotation_3 wheel_3_left
115 FIX: wheel_rotation_3 wheel_3_right
118 FIX: base wheel_rotation_4
119 Txyz (0.2246,-0.2246,0.0282)
120 FIX: wheel_rotation_4 wheel_4_left
122 FIX: wheel_rotation_4 wheel_4_right
127 Txyz(-0.05,0,0.839675)
128 % Txyz(-0.05,0,0.739675)
129 % PRISMATIC: base (-0.05,0,0.739675)+(0,0,1)
130 % torso (0,0,0)+(0,0,1)
133 % FIX: torso l_shoulder_pan
134 % Txyz(0,0.188,0)*Rz(Pi/2)
135 REVOLUTE: torso (0,0.188,0)+(0,0,1)
136 l_shoulder_pan (0,0,0)+(0,0,1)
137 range [-40.9437* DEG2RAD,130.944*DEG2RAD]
141 % FIX: l_shoulder_pan l_shoulder_lift
142 % Txyz(0.1,0,0)*Ry(Pi/4)
143 REVOLUTE: l_shoulder_pan (0.1,0,0)+(0,1,0)
144 l_shoulder_lift (0,0,0)+(0,1,0)
145 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
149 % FIX: l_shoulder_lift l_upper_arm_roll
151 REVOLUTE: l_shoulder_lift (0,0,0)+(1,0,0)
152 l_upper_arm_roll (0,0,0)+(1,0,0)
153 range [-45.8366*DEG2RAD,223.454*DEG2RAD]
157 FIX: l_upper_arm_roll l_upper_arm
160 % FIX: l_upper_arm l_elbow_flex
161 % Txyz(0.4,0,0)*Ry(-Pi/4)
162 REVOLUTE: l_upper_arm (0.4,0,0)+(0,1,0)
163 l_elbow_flex (0,0,0)+(0,1,0)
164 range [-133.001*DEG2RAD,0*DEG2RAD]
168 % FIX: l_elbow_flex l_forearm_roll
170 REVOLUTE: l_elbow_flex (0,0,0)+(1,0,0)
171 l_forearm_roll (0,0,0)+(1,0,0)
173 FIX: l_forearm_roll l_forearm
176 % FIX: l_forearm l_wrist_flex
178 REVOLUTE: l_forearm (0.321,0,0)+(0,1,0)
179 l_wrist_flex (0,0,0)+(0,1,0)
180 range [-124.905*DEG2RAD,0*DEG2RAD]
184 % FIX: l_wrist_flex l_wrist_roll
186 REVOLUTE: l_wrist_flex (0,0,0)+(1,0,0)
187 l_wrist_roll (0,0,0)+(1,0,0)
189 FIX: l_wrist_roll l_gripper_palm
192 FIX: l_gripper_palm l_gripper_l_finger
193 Txyz(0.07691,0.01,0)% *Rz(pi/20)
194 % REVOLUTE: l_gripper_palm (0.07691,0.01,0)+(0,0,1)
195 % l_gripper_l_finger (0,0,0)+(0,0,1)
196 % range [0*DEG2RAD,31.3981*DEG2RAD]
200 FIX: l_gripper_l_finger l_gripper_l_finger_tip
201 Txyz(0.09137,0.00495,0)
202 % CREVOLUTE: l_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
203 % l_gripper_l_finger_tip (0,0,0)+(0,0,-1)
204 % range [0*DEG2RAD,31.3981*DEG2RAD]
208 FIX: l_gripper_palm l_gripper_r_finger
209 Txyz(0.07691,-0.01,0)*Rx(pi) %*Rz(pi/20) % !!!
210 % CREVOLUTE: l_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
211 % l_gripper_r_finger (0,0,0)+(0,0,1)
212 % range [0*DEG2RAD,31.3981*DEG2RAD]
216 FIX: l_gripper_r_finger l_gripper_r_finger_tip
217 Txyz(0.09137,-0.00495,0)
218 % CREVOLUTE: l_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
219 % l_gripper_r_finger_tip (0,0,0)+(0,0,-1)
220 % range [0*DEG2RAD,31.3981*DEG2RAD]
225 % FIX: torso r_shoulder_pan
227 REVOLUTE: torso (0,-0.188,0)+(0,0,1)
228 r_shoulder_pan (0,0,0)+(0,0,1)
229 range [-130.944*DEG2RAD,40.9437*DEG2RAD]
233 % FIX: r_shoulder_pan r_shoulder_lift
235 REVOLUTE: r_shoulder_pan (0.1,0,0)+(0,1,0)
236 r_shoulder_lift (0,0,0)+(0,1,0)
237 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
241 % FIX: r_shoulder_lift r_upper_arm_roll
243 REVOLUTE: r_shoulder_lift (0,0,0)+(1,0,0)
244 r_upper_arm_roll (0,0,0)+(1,0,0)
245 range [-223.454*DEG2RAD,45.8366*DEG2RAD]
249 FIX: r_upper_arm_roll r_upper_arm
252 % FIX: r_upper_arm r_elbow_flex
254 REVOLUTE: r_upper_arm (0.4,0,0)+(0,1,0)
255 r_elbow_flex (0,0,0)+(0,1,0)
256 range [-133.001*DEG2RAD,0*DEG2RAD]
260 % FIX: r_elbow_flex r_forearm_roll
262 REVOLUTE: r_elbow_flex (0,0,0)+(1,0,0)
263 r_forearm_roll (0,0,0)+(1,0,0)
265 FIX: r_forearm_roll r_forearm
268 % FIX: r_forearm r_wrist_flex
270 REVOLUTE: r_forearm (0.321,0,0)+(0,1,0)
271 r_wrist_flex (0,0,0)+(0,1,0)
272 range [-124.905*DEG2RAD,0*DEG2RAD]
276 % FIX: r_wrist_flex r_wrist_roll
278 REVOLUTE: r_wrist_flex (0,0,0)+(1,0,0)
279 r_wrist_roll (0,0,0)+(1,0,0)
281 FIX: r_wrist_roll r_gripper_palm
284 FIX: r_gripper_palm r_gripper_l_finger
285 Txyz(0.07691,0.01,0)*Rz(pi/18)
286 % REVOLUTE: r_gripper_palm (0.07691,0.01,0)+(0,0,1)
287 % r_gripper_l_finger (0,0,0)+(0,0,1)
288 % range [0*DEG2RAD,31.3981*DEG2RAD]
291 % range [0*DEG2RAD,31.3981*DEG2RAD]
295 FIX: r_gripper_l_finger r_gripper_l_finger_tip
296 Txyz(0.09137,0.00495,0)
297 %CREVOLUTE: r_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
298 % r_gripper_l_finger_tip (0,0,0)+(0,0,-1)
299 % range [0*DEG2RAD,31.3981*DEG2RAD]
303 FIX: r_gripper_palm r_gripper_r_finger
304 Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18) % !!!
305 %CREVOLUTE: r_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
306 % r_gripper_r_finger (0,0,0)+(0,0,1)
307 % range [0*DEG2RAD,31.3981*DEG2RAD]
311 FIX: r_gripper_r_finger r_gripper_r_finger_tip
312 Txyz(0.09137,-0.00495,0)
313 % CREVOLUTE: r_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
314 % r_gripper_r_finger_tip (0,0,0)+(0,0,-1)
315 % range [0*DEG2RAD,31.3981*DEG2RAD]
320 FIX: world table_bases Id
321 prismatic: world (0,0,0)+(1,0,0) box_virtual (0,0,0)+(1,0,0)
324 prismatic: box_virtual (0,0,0)+(0,0,1) box_object (0,0,0)+(0,0,1)
327 FIX: r_wrist_roll box_object Rx(Pi/2)*Txyz(0.4,0,-0.1)*Rz(-Pi/2)
329 FIX: l_wrist_roll box_object Rx(-Pi/2)*Txyz(0.4,0,-0.1)*Rz(Pi/2)
333 Check : table_bases, box_object
335 Check: base_footprint, box_object
336 Check: base, box_object
337 Check: laser_tilt, box_object
338 Check: wheel_rotation_1, box_object
339 Check: wheel_1_left, box_object
340 Check: wheel_1_right, box_object
341 Check: wheel_rotation_2, box_object
342 Check: wheel_2_left, box_object
343 Check: wheel_2_right, box_object
344 Check: wheel_rotation_3, box_object
345 Check: wheel_3_left, box_object
346 Check: wheel_3_right, box_object
347 Check: wheel_rotation_4, box_object
348 Check: wheel_4_left, box_object
349 Check: wheel_4_right, box_object
350 Check: torso, box_object
351 Check: head_pan, box_object
352 Check: head_tilt, box_object
354 Check : l_shoulder_pan, box_object
355 Check : l_shoulder_lift, box_object
356 Check : l_upper_arm_roll, box_object
357 Check : l_upper_arm, box_object
358 Check : l_elbow_flex, box_object
359 Check : l_forearm_roll, box_object
360 Check : l_forearm, box_object
361 Check : l_wrist_flex, box_object
362 Check : l_wrist_roll, box_object
364 Check : r_shoulder_pan, box_object
365 Check : r_shoulder_lift, box_object
366 Check : r_upper_arm_roll, box_object
367 Check : r_upper_arm, box_object
368 Check : r_elbow_flex, box_object
369 Check : r_forearm_roll, box_object
370 Check : r_forearm, box_object
371 Check : r_wrist_flex, box_object
372 Check : r_wrist_roll, box_object
374 Check : torso, box_object
376 Check : l_wrist_roll, table_bases
377 Check : l_shoulder_pan, table_bases
378 Check : l_shoulder_lift, table_bases
379 Check : l_upper_arm_roll, table_bases
380 Check : l_upper_arm, table_bases
381 Check : l_elbow_flex, table_bases
382 Check : l_forearm_roll, table_bases
383 Check : l_forearm, table_bases
384 Check : l_wrist_flex, table_bases
385 Check : l_wrist_roll, table_bases
387 Check : r_wrist_roll, table_bases
388 Check : r_shoulder_pan, table_bases
389 Check : r_shoulder_lift, table_bases
390 Check : r_upper_arm_roll, table_bases
391 Check : r_upper_arm, table_bases
392 Check : r_elbow_flex, table_bases
393 Check : r_forearm_roll, table_bases
394 Check : r_forearm, table_bases
395 Check : r_wrist_flex, table_bases
396 Check : r_wrist_roll, table_bases
#define DEG2RAD Constant to transform from degrees to radiants.
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