reem_glass_sample.world

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[CONSTANTS]

  Deg2Rad := pi/180.0 

[LINKS]

  world: body "bodies/plane.off" yellow decoration
         body "bodies/table_top.off" color (0.25,0.25,0)
         cylinder 0.03 (0.8,-0.5,0) (0.8,-0.5,0.8) blue
         cylinder 0.03 (0.8,0.5,0) (0.8,0.5,0.8) blue
         cylinder 0.03 (1.3,-0.5,0) (1.3,-0.5,0.8) blue
         cylinder 0.03 (1.3,0.5,0) (1.3,0.5,0.8) blue

  glass: body "bodies/glass.off" 0.8*blue 

  base: body "bodies/base.off" 0.8*white
  base1
  base2

  wheel_left: body "bodies/wheel.off" 0.1*white decoration
  wheel_right: body "bodies/wheel.off" 0.1*white decoration

  caster_left_1: body "bodies/caster.off" 0.1*white decoration
  caster_left_2: body "bodies/caster.off" 0.1*white decoration

  caster_right_1: body "bodies/caster.off" 0.1*white decoration
  caster_right_2: body "bodies/caster.off" 0.1*white decoration

  torso1: body "bodies/torso1.off" 0.2*white
  torso2: body "bodies/torso2.off" 0.8*white

  arm_left_1: body "bodies/arm_left_1.off" 0.2*white
  arm_left_2: body "bodies/arm_left_2.off" 0.2*white
  arm_left_3: body "bodies/arm_left_3.off" 0.2*white
  arm_left_4: body "bodies/arm_left_4.off" 0.2*white
  arm_left_5: body "bodies/arm_left_5.off" 0.8*white
  arm_left_6: body "bodies/arm_left_6.off" 0.8*white
  arm_left_7: body "bodies/arm_left_7.off" 0.8*white
              body "bodies/hand_left.off" 0.8*white

  arm_right_1: body "bodies/arm_right_1.off" 0.2*white
  arm_right_2: body "bodies/arm_right_2.off" 0.2*white
  arm_right_3: body "bodies/arm_right_3.off" 0.2*white
  arm_right_4: body "bodies/arm_right_4.off" 0.2*white
  arm_right_5: body "bodies/arm_right_5.off" 0.8*white
  arm_right_6: body "bodies/arm_right_6.off" 0.8*white
  arm_right_7: body "bodies/arm_right_7.off" 0.8*white
               body "bodies/hand_right.off" 0.8*white

  head_1: body "bodies/head_1.off" 0.2*white decoration
  head_2: body "bodies/head_2.off" 0.8*white decoration


[JOINTS]

  fix: world glass Txyz(0.8,0,0.90)

  prismatic: world (0,0,0)+(1,0,0) 
             base1 (0,0,0)+(1,0,0) 
             range [-3,3]

  prismatic: base1 (0,0,0)+(0,1,0) 
             base2 (0,0,0)+(0,1,0) 
             range [-3,3]

  revolute: base2 (0,0,0)+(0,0,1)
            base  (0,0,0)+(0,0,1)

  fix: base wheel_left Txyz(0,0.2445,0.1075)*Rx(-90*Deg2Rad)
  fix: base wheel_right Txyz(0,-0.2445,0.1075)*Rx(-90*Deg2Rad)
  
  fix: base caster_right_1 Txyz(-0.3805,-0.175,0.05)
  fix: caster_right_1 caster_right_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)

  fix: base caster_left_1 Txyz(-0.3805,0.175,0.05)
  fix: caster_left_1 caster_left_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)

  revolute: base (-0.1091,0,1.0531)+(0,0,1)
            torso1 (0,0,0)+(0,0,1)
            range [-75*Deg2Rad,75*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  revolute: torso1 (0,0,0)+(0,-sin(-90*Deg2Rad),cos(-90*Deg2Rad))
            torso2 (0,0,0)+(0,0,1)
            range [-15*Deg2Rad,45*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  fix: torso2 head_1 Txyz(-0.024,-0.412,0)*Rx(90*Deg2Rad)
  fix: head_1 head_2 Txyz(0.0445,0,0)*Rx(-90*Deg2Rad)

  /* Fix the left arm */
  fix : torso2 arm_left_1 Txyz(-0.01,-0.273,0)*Rx(2.87979)

  fix: arm_left_1 arm_left_2 Txyz(0,0,-0.2385)*Rz(1.5708)*Ry(1.309)*Rx(1.5708)

  fix: arm_left_2 arm_left_3 Txyz(0.02,-0.1065,0)*Rx(-1.5708)

  fix: arm_left_3 arm_left_4 Txyz(0,-0.02,-0.1235)*Ry(-1.5708)

  fix: arm_left_4 arm_left_5 Txyz(-0.1065,0.02,0)*Ry(1.5708)

  fix: arm_left_5 arm_left_6 Txyz(0,0,-0.133)*Rx(1.5708)

  fix: arm_left_6 arm_left_7 Rx(-1.5708)

  /* Fully operational right arm */
  revolute: torso2 (-0.01,-0.273,0)+(0,-sin(-165*Deg2Rad),cos(-165*Deg2Rad))
            arm_right_1 (0,0,0)+(0,0,1)
            range [-45*Deg2Rad,180*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  revolute: arm_right_1 (0,0,0.2385)+(-1,0,0)
            arm_right_2 (0,0,0)+(0,0,1)
            range [-30*Deg2Rad,105*Deg2Rad]
                  +(0,cos(75*Deg2Rad),sin(75*Deg2Rad)) +(1,0,0)

  revolute: arm_right_2 (0.02,-0.1065,0)+(0,-1,0)
            arm_right_3 (0,0,0)+(0,0,1)
            range [-120*Deg2Rad,120*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  revolute: arm_right_3 (0,-0.02,0.1235)+(1,0,0)
            arm_right_4 (0,0,0)+(0,0,1)
            range [0*Deg2Rad,120*Deg2Rad]
                  +(0,0,-1) +(1,0,0)

  revolute: arm_right_4 (-0.1065,0.02,0)+(-1,0,0)
            arm_right_5 (0,0,0)+(0,0,1)
            range [0*Deg2Rad,120*Deg2Rad]
                  +(0,0,1) +(1,0,0)

  revolute: arm_right_5 (0,0,0.133)+(0,1,0)
            arm_right_6 (0,0,0)+(0,0,1)
            range [-90*Deg2Rad,90*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  revolute: arm_right_6 (0,0,0)+(0,-1,0)
            arm_right_7 (0,0,0)+(0,0,1)
            range [-120*Deg2Rad,120*Deg2Rad]
                  +(1,0,0) +(1,0,0)

  revolute: glass (0,0,0)+(0,0,1)
            arm_right_7 (-0.070390253284208,0.049581728739316,0.135699290394362)+(0.017674046576315,-0.906051238856922,-0.422798747211313)
    

[COLLISIONS]
  Check: all
  Do not check: base,torso1
  Do not check: torso1,torso2

  Do not check: torso2,arm_left_1
  Do not check: torso2,arm_left_2
  Do not check: arm_left_1,arm_left_2
  Do not check: arm_left_2,arm_left_3
  Do not check: arm_left_3,arm_left_4
  Do not check: arm_left_4,arm_left_5
  Do not check: arm_left_5,arm_left_6
  Do not check: arm_left_5,arm_left_7
  Do not check: arm_left_6,arm_left_7

  Do not check: torso2,arm_right_1
  Do not check: torso2,arm_right_2
  Do not check: arm_right_1,arm_right_2
  Do not check: arm_right_2,arm_right_3
  Do not check: arm_right_3,arm_right_4
  Do not check: arm_right_4,arm_right_5
  Do not check: arm_right_5,arm_right_6
  Do not check: arm_right_5,arm_right_7
  Do not check: arm_right_6,arm_right_7

  Do not check: world,glass
  Do not check: arm_right_7,glass