reem.world
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1 
3 [CONSTANTS]
4 
5  Deg2Rad := pi/180.0
6 
7 [LINKS]
8 
9  world: body "bodies/plane.off" yellow decoration
10 
11  base: body "bodies/base.off" 0.8*white
12 
13  wheel_left: body "bodies/wheel.off" 0.1*white decoration
14  wheel_right: body "bodies/wheel.off" 0.1*white decoration
15 
16  caster_left_1: body "bodies/caster.off" 0.1*white decoration
17  caster_left_2: body "bodies/caster.off" 0.1*white decoration
18 
19  caster_right_1: body "bodies/caster.off" 0.1*white decoration
20  caster_right_2: body "bodies/caster.off" 0.1*white decoration
21 
22  torso1: body "bodies/torso1.off" 0.2*white
23  torso2: body "bodies/torso2.off" 0.8*white
24 
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
33 
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
42 
43  head_1: body "bodies/head_1.off" 0.2*white
44  head_2: body "bodies/head_2.off" 0.8*white
45 
46 [JOINTS]
47 
48  fix: world base Id
49 
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)
52 
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)
55 
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)
58 
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]
62  +(1,0,0) +(1,0,0)
63 
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]
67  +(1,0,0) +(1,0,0)
68 
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)
71 
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]
75  +(1,0,0) +(1,0,0)
76 
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)
81 
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]
85  +(1,0,0) +(1,0,0)
86 
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]
90  +(0,0,1) +(1,0,0)
91 
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]
95  +(0,0,-1) +(1,0,0)
96 
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]
100  +(1,0,0) +(1,0,0)
101 
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]
105  +(1,0,0) +(1,0,0)
106 
107 
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]
111  +(1,0,0) +(1,0,0)
112 
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)
117 
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]
121  +(1,0,0) +(1,0,0)
122 
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]
126  +(0,0,-1) +(1,0,0)
127 
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]
131  +(0,0,1) +(1,0,0)
132 
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]
136  +(1,0,0) +(1,0,0)
137 
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]
141  +(1,0,0) +(1,0,0)
142