Go to the documentation of this file.
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
16 box: body "bodies/box.off"
20 base: body "bodies/base.off" 0.8*white
22 wheel_left: body "bodies/wheel.off" 0.1*white decoration
23 wheel_right: body "bodies/wheel.off" 0.1*white decoration
25 caster_left_1: body "bodies/caster.off" 0.1*white decoration
26 caster_left_2: body "bodies/caster.off" 0.1*white decoration
28 caster_right_1: body "bodies/caster.off" 0.1*white decoration
29 caster_right_2: body "bodies/caster.off" 0.1*white decoration
31 torso1: body "bodies/torso1.off" 0.2*white
32 torso2: body "bodies/torso2.off" 0.8*white
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
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
52 head_1: body "bodies/head_1.off" 0.2*white decoration
53 head_2: body "bodies/head_2.off" 0.8*white decoration
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)
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)
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)
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]
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]
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)
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]
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)
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]
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]
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]
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]
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]
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]
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)
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]
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]
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]
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]
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]
152 prismatic: world (0,0,0)+(1,0,0)
156 prismatic: box1 (0,0,0)+(0,0,1)
160 revolute: box2 (0,0,0)+(0,0,1)
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)
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)
171 Do not check: base,torso1
172 Do not check: torso1,torso2
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
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
195 Do not check: arm_left_7,box
196 Do not check: arm_right_7,box
|
Follow us!