reem_table.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  body "bodies/table_top.off" color (0.25,0.25,0)
11  cylinder 0.03 (0.8,-0.5,0) (0.8,-0.5,0.8) blue
12  cylinder 0.03 (0.8,0.5,0) (0.8,0.5,0.8) blue
13  cylinder 0.03 (1.3,-0.5,0) (1.3,-0.5,0.8) blue
14  cylinder 0.03 (1.3,0.5,0) (1.3,0.5,0.8) blue
15 
16  box: body "bodies/box.off"
17  box1
18  box2
19 
20  base: body "bodies/base.off" 0.8*white
21 
22  wheel_left: body "bodies/wheel.off" 0.1*white decoration
23  wheel_right: body "bodies/wheel.off" 0.1*white decoration
24 
25  caster_left_1: body "bodies/caster.off" 0.1*white decoration
26  caster_left_2: body "bodies/caster.off" 0.1*white decoration
27 
28  caster_right_1: body "bodies/caster.off" 0.1*white decoration
29  caster_right_2: body "bodies/caster.off" 0.1*white decoration
30 
31  torso1: body "bodies/torso1.off" 0.2*white
32  torso2: body "bodies/torso2.off" 0.8*white
33 
34  arm_left_1: body "bodies/arm_left_1.off" 0.2*white
35  arm_left_2: body "bodies/arm_left_2.off" 0.2*white
36  arm_left_3: body "bodies/arm_left_3.off" 0.2*white
37  arm_left_4: body "bodies/arm_left_4.off" 0.2*white
38  arm_left_5: body "bodies/arm_left_5.off" 0.8*white
39  arm_left_6: body "bodies/arm_left_6.off" 0.8*white
40  arm_left_7: body "bodies/arm_left_7.off" 0.8*white
41  body "bodies/hand_left.off" 0.8*white
42 
43  arm_right_1: body "bodies/arm_right_1.off" 0.2*white
44  arm_right_2: body "bodies/arm_right_2.off" 0.2*white
45  arm_right_3: body "bodies/arm_right_3.off" 0.2*white
46  arm_right_4: body "bodies/arm_right_4.off" 0.2*white
47  arm_right_5: body "bodies/arm_right_5.off" 0.8*white
48  arm_right_6: body "bodies/arm_right_6.off" 0.8*white
49  arm_right_7: body "bodies/arm_right_7.off" 0.8*white
50  body "bodies/hand_right.off" 0.8*white
51 
52  head_1: body "bodies/head_1.off" 0.2*white decoration
53  head_2: body "bodies/head_2.off" 0.8*white decoration
54 
55 [JOINTS]
56 
57  fix: world base Id
58 
59  fix: base wheel_left Txyz(0,0.2445,0.1075)*Rx(-90*Deg2Rad)
60  fix: base wheel_right Txyz(0,-0.2445,0.1075)*Rx(-90*Deg2Rad)
61 
62  fix: base caster_right_1 Txyz(-0.3805,-0.175,0.05)
63  fix: caster_right_1 caster_right_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)
64 
65  fix: base caster_left_1 Txyz(-0.3805,0.175,0.05)
66  fix: caster_left_1 caster_left_2 Txyz(-0.033,0,0)*Rx(-90*Deg2Rad)
67 
68  revolute: base (-0.1091,0,1.0531)+(0,0,1)
69  torso1 (0,0,0)+(0,0,1)
70  range [-75*Deg2Rad,75*Deg2Rad]
71  +(1,0,0) +(1,0,0)
72 
73  revolute: torso1 (0,0,0)+(0,-sin(-90*Deg2Rad),cos(-90*Deg2Rad))
74  torso2 (0,0,0)+(0,0,1)
75  range [-15*Deg2Rad,45*Deg2Rad]
76  +(1,0,0) +(1,0,0)
77 
78  fix: torso2 head_1 Txyz(-0.024,-0.412,0)*Rx(90*Deg2Rad)
79  fix: head_1 head_2 Txyz(0.0445,0,0)*Rx(-90*Deg2Rad)
80 
81  revolute: torso2 (-0.01,-0.273,0)+(0,-sin(165*Deg2Rad),cos(165*Deg2Rad))
82  arm_left_1 (0,0,0)+(0,0,1)
83  range [-45*Deg2Rad,180*Deg2Rad]
84  +(1,0,0) +(1,0,0)
85 
86  revolute: arm_left_1 (0,0,-0.2385)+(1,0,0)
87  arm_left_2 (0,0,0)+(0,0,1)
88  range [-30*Deg2Rad,105*Deg2Rad]
89  +(0,cos(75*Deg2Rad),-sin(75*Deg2Rad)) +(1,0,0)
90 
91  revolute: arm_left_2 (0.02,-0.1065,0)+(0,1,0)
92  arm_left_3 (0,0,0)+(0,0,1)
93  range [-120*Deg2Rad,120*Deg2Rad]
94  +(1,0,0) +(1,0,0)
95 
96  revolute: arm_left_3 (0,-0.02,-0.1235)+(-1,0,0)
97  arm_left_4 (0,0,0)+(0,0,1)
98  range [0*Deg2Rad,120*Deg2Rad]
99  +(0,0,1) +(1,0,0)
100 
101  revolute: arm_left_4 (-0.1065,0.02,0)+(1,0,0)
102  arm_left_5 (0,0,0)+(0,0,1)
103  range [0*Deg2Rad,120*Deg2Rad]
104  +(0,0,-1) +(1,0,0)
105 
106  revolute: arm_left_5 (0,0,-0.133)+(0,-1,0)
107  arm_left_6 (0,0,0)+(0,0,1)
108  range [-90*Deg2Rad,90*Deg2Rad]
109  +(1,0,0) +(1,0,0)
110 
111  revolute: arm_left_6 (0,0,0)+(0,1,0)
112  arm_left_7 (0,0,0)+(0,0,1)
113  range [-120*Deg2Rad,120*Deg2Rad]
114  +(1,0,0) +(1,0,0)
115 
116 
117  revolute: torso2 (-0.01,-0.273,0)+(0,-sin(-165*Deg2Rad),cos(-165*Deg2Rad))
118  arm_right_1 (0,0,0)+(0,0,1)
119  range [-45*Deg2Rad,180*Deg2Rad]
120  +(1,0,0) +(1,0,0)
121 
122  revolute: arm_right_1 (0,0,0.2385)+(-1,0,0)
123  arm_right_2 (0,0,0)+(0,0,1)
124  range [-30*Deg2Rad,105*Deg2Rad]
125  +(0,cos(75*Deg2Rad),sin(75*Deg2Rad)) +(1,0,0)
126 
127  revolute: arm_right_2 (0.02,-0.1065,0)+(0,-1,0)
128  arm_right_3 (0,0,0)+(0,0,1)
129  range [-120*Deg2Rad,120*Deg2Rad]
130  +(1,0,0) +(1,0,0)
131 
132  revolute: arm_right_3 (0,-0.02,0.1235)+(1,0,0)
133  arm_right_4 (0,0,0)+(0,0,1)
134  range [0*Deg2Rad,120*Deg2Rad]
135  +(0,0,-1) +(1,0,0)
136 
137  revolute: arm_right_4 (-0.1065,0.02,0)+(-1,0,0)
138  arm_right_5 (0,0,0)+(0,0,1)
139  range [0*Deg2Rad,120*Deg2Rad]
140  +(0,0,1) +(1,0,0)
141 
142  revolute: arm_right_5 (0,0,0.133)+(0,1,0)
143  arm_right_6 (0,0,0)+(0,0,1)
144  range [-90*Deg2Rad,90*Deg2Rad]
145  +(1,0,0) +(1,0,0)
146 
147  revolute: arm_right_6 (0,0,0)+(0,-1,0)
148  arm_right_7 (0,0,0)+(0,0,1)
149  range [-120*Deg2Rad,120*Deg2Rad]
150  +(1,0,0) +(1,0,0)
151 
152  prismatic: world (0,0,0)+(1,0,0)
153  box1 (0,0,0)+(1,0,0)
154  range [0,2]
155 
156  prismatic: box1 (0,0,0)+(0,0,1)
157  box2 (0,0,0)+(0,0,1)
158  range [0,2]
159 
160  revolute: box2 (0,0,0)+(0,0,1)
161  box (0,0,0)+(0,0,1)
162 
163  revolute: box (0.010335036277771,0.219960629940033,0.085000941276550)+(0,1,0)
164  arm_left_7 (-0.015458200309480,0.018637162047744,-0.206119463498101)+(0.999200174914106,-0.028833356686627,0.027706461228430)
165 
166  revolute: box (0.010335036277771,-0.219960629940033,0.085000941276550)+(0,1,0)
167  arm_right_7 (-0.015458200309480,0.018637162047744,0.206119463498101)+(-0.999200174914106,0.028833356686627,0.027706461228430)
168 
169 [COLLISIONS]
170  Check: all
171  Do not check: base,torso1
172  Do not check: torso1,torso2
173 
174  Do not check: torso2,arm_left_1
175  Do not check: torso2,arm_left_2
176  Do not check: arm_left_1,arm_left_2
177  Do not check: arm_left_2,arm_left_3
178  Do not check: arm_left_3,arm_left_4
179  Do not check: arm_left_4,arm_left_5
180  Do not check: arm_left_5,arm_left_6
181  Do not check: arm_left_5,arm_left_7
182  Do not check: arm_left_6,arm_left_7
183 
184  Do not check: torso2,arm_right_1
185  Do not check: torso2,arm_right_2
186  Do not check: arm_right_1,arm_right_2
187  Do not check: arm_right_2,arm_right_3
188  Do not check: arm_right_3,arm_right_4
189  Do not check: arm_right_4,arm_right_5
190  Do not check: arm_right_5,arm_right_6
191  Do not check: arm_right_5,arm_right_7
192  Do not check: arm_right_6,arm_right_7
193 
194 
195  Do not check: arm_left_7,box
196  Do not check: arm_right_7,box
197