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9 world: body "bodies/plane.off" yellow decoration
11 base: body "bodies/base.off" 0.8*white
13 wheel_left: body "bodies/wheel.off" 0.1*white decoration
14 wheel_right: body "bodies/wheel.off" 0.1*white decoration
16 caster_left_1: body "bodies/caster.off" 0.1*white decoration
17 caster_left_2: body "bodies/caster.off" 0.1*white decoration
19 caster_right_1: body "bodies/caster.off" 0.1*white decoration
20 caster_right_2: body "bodies/caster.off" 0.1*white decoration
22 torso1: body "bodies/torso1.off" 0.2*white
23 torso2: body "bodies/torso2.off" 0.8*white
25 arm_left_1: body "bodies/arm_left_1.off" 0.2*white
26 arm_left_2: body "bodies/arm_left_2.off" 0.2*white
27 arm_left_3: body "bodies/arm_left_3.off" 0.2*white
28 arm_left_4: body "bodies/arm_left_4.off" 0.2*white
29 arm_left_5: body "bodies/arm_left_5.off" 0.8*white
30 arm_left_6: body "bodies/arm_left_6.off" 0.8*white
31 arm_left_7: body "bodies/arm_left_7.off" 0.8*white
32 body "bodies/hand_left.off" 0.8*white
34 arm_right_1: body "bodies/arm_right_1.off" 0.2*white
35 arm_right_2: body "bodies/arm_right_2.off" 0.2*white
36 arm_right_3: body "bodies/arm_right_3.off" 0.2*white
37 arm_right_4: body "bodies/arm_right_4.off" 0.2*white
38 arm_right_5: body "bodies/arm_right_5.off" 0.8*white
39 arm_right_6: body "bodies/arm_right_6.off" 0.8*white
40 arm_right_7: body "bodies/arm_right_7.off" 0.8*white
41 body "bodies/hand_right.off" 0.8*white
43 head_1: body "bodies/head_1.off" 0.2*white
44 head_2: body "bodies/head_2.off" 0.8*white
50 fix: base wheel_left Txyz(0,0.2445,0.1075)*Rx(-90*Deg2Rad)
51 fix: base wheel_right Txyz(0,-0.2445,0.1075)*Rx(-90*Deg2Rad)
53 fix: base caster_right_1 Txyz(-0.3805,-0.175,0.05)
54 fix: caster_right_1 caster_right_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)
56 fix: base caster_left_1 Txyz(-0.3805,0.175,0.05)
57 fix: caster_left_1 caster_left_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)
59 revolute: base (-0.1091,0,1.0531)+(0,0,1)
60 torso1 (0,0,0)+(0,0,1)
61 range [-75*Deg2Rad,75*Deg2Rad]
64 revolute: torso1 (0,0,0)+(0,-sin(-90*Deg2Rad),cos(-90*Deg2Rad))
65 torso2 (0,0,0)+(0,0,1)
66 range [-15*Deg2Rad,45*Deg2Rad]
69 fix: torso2 head_1 Txyz(-0.024,-0.412,0)*Rx(90*Deg2Rad)
70 fix: head_1 head_2 Txyz(0.0445,0,0)*Rx(-90*Deg2Rad)
72 revolute: torso2 (-0.01,-0.273,0)+(0,-sin(165*Deg2Rad),cos(165*Deg2Rad))
73 arm_left_1 (0,0,0)+(0,0,1)
74 range [-45*Deg2Rad,180*Deg2Rad]
77 revolute: arm_left_1 (0,0,-0.2385)+(1,0,0)
78 arm_left_2 (0,0,0)+(0,0,1)
79 range [-30*Deg2Rad,105*Deg2Rad]
80 +(0,cos(75*Deg2Rad),-sin(75*Deg2Rad)) +(1,0,0)
82 revolute: arm_left_2 (0.02,-0.1065,0)+(0,1,0)
83 arm_left_3 (0,0,0)+(0,0,1)
84 range [-120*Deg2Rad,120*Deg2Rad]
87 revolute: arm_left_3 (0,-0.02,-0.1235)+(-1,0,0)
88 arm_left_4 (0,0,0)+(0,0,1)
89 range [0*Deg2Rad,120*Deg2Rad]
92 revolute: arm_left_4 (-0.1065,0.02,0)+(1,0,0)
93 arm_left_5 (0,0,0)+(0,0,1)
94 range [0*Deg2Rad,120*Deg2Rad]
97 revolute: arm_left_5 (0,0,-0.133)+(0,-1,0)
98 arm_left_6 (0,0,0)+(0,0,1)
99 range [-90*Deg2Rad,90*Deg2Rad]
102 revolute: arm_left_6 (0,0,0)+(0,1,0)
103 arm_left_7 (0,0,0)+(0,0,1)
104 range [-120*Deg2Rad,120*Deg2Rad]
108 revolute: torso2 (-0.01,-0.273,0)+(0,-sin(-165*Deg2Rad),cos(-165*Deg2Rad))
109 arm_right_1 (0,0,0)+(0,0,1)
110 range [-45*Deg2Rad,180*Deg2Rad]
113 revolute: arm_right_1 (0,0,0.2385)+(-1,0,0)
114 arm_right_2 (0,0,0)+(0,0,1)
115 range [-30*Deg2Rad,105*Deg2Rad]
116 +(0,cos(75*Deg2Rad),sin(75*Deg2Rad)) +(1,0,0)
118 revolute: arm_right_2 (0.02,-0.1065,0)+(0,-1,0)
119 arm_right_3 (0,0,0)+(0,0,1)
120 range [-120*Deg2Rad,120*Deg2Rad]
123 revolute: arm_right_3 (0,-0.02,0.1235)+(1,0,0)
124 arm_right_4 (0,0,0)+(0,0,1)
125 range [0*Deg2Rad,120*Deg2Rad]
128 revolute: arm_right_4 (-0.1065,0.02,0)+(-1,0,0)
129 arm_right_5 (0,0,0)+(0,0,1)
130 range [0*Deg2Rad,120*Deg2Rad]
133 revolute: arm_right_5 (0,0,0.133)+(0,1,0)
134 arm_right_6 (0,0,0)+(0,0,1)
135 range [-90*Deg2Rad,90*Deg2Rad]
138 revolute: arm_right_6 (0,0,0)+(0,-1,0)
139 arm_right_7 (0,0,0)+(0,0,1)
140 range [-120*Deg2Rad,120*Deg2Rad]
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