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9 world: body "bodies/plane.off" color(0.9,0.9,0.9)
14 base: body "bodies/base_frame.off" color (0,0,0)
16 frw : body "bodies/front-right_wheel.off" color (0.619,0.346,0.035)
17 flw : body "bodies/front-left_wheel.off" color (0.619,0.346,0.035)
18 brw : body "bodies/back-right_wheel.off" color (0.619,0.346,0.035)
19 blw : body "bodies/back-left_wheel.off" color (0.619,0.346,0.035)
21 plate: body "bodies/plate.off" color (1,1,1)
23 arm_base: body "bodies/arm_base_frame.off" color (0,0,0)
25 arm_joint1: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
27 arm_joint2: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
29 arm_joint3: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
31 arm_joint4: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
33 arm_joint5: body "bodies/arm_joint_5.off" color (0,0,0)
35 gripper_base: body "bodies/gripper_base_frame.off" color (0,0,0)
37 left_finger: body "bodies/gripper_left_finger.off" color (1,1,1)
39 right_finger: body "bodies/gripper_right_finger.off" color (1,1,1)
43 prismatic: world (0,0,0) (1,0,0)
47 prismatic: wb1 (0,0,0) (0,1,0)
51 revolute: wb2 (0,0,0) (0,0,1)
54 fix: base frw Txyz( 0.228,-0.158,-0.034)
55 fix: base flw Txyz( 0.228, 0.158,-0.034)
56 fix: base brw Txyz(-0.228,-0.158,-0.034)
57 fix: base blw Txyz(-0.228, 0.158,-0.034)
59 fix: base arm_base Txyz(0.143,0,0.046)
61 fix: base plate Txyz(-0.159,0,0.046)
63 revolute: arm_base (0.024,0,0.115)+(0,0,-1)
64 arm_joint1 (0,0,0)+(0,0,1)
65 range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
67 revolute: arm_joint1 (0.033,0,0)+(0,-1,0)
68 arm_joint2 (0,0,0)+(0,0,1)
69 range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
71 revolute: arm_joint2 (0.155,0,0)+(0,0,1)
72 arm_joint3 (0,0,0)+(0,0,1)
73 range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
75 revolute: arm_joint3 (0,0.135,0)+(0,0,1)
76 arm_joint4 (0,0,0)+(0,0,1)
77 range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
79 revolute: arm_joint4 (0,0.1136,0)+(0,1,0)
80 arm_joint5 (0,0,0)+(0,0,1)
81 range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
83 fix: arm_joint5 gripper_base Txyz(0,0,0.05716)*Rz(180*deg2rad)
85 prismatic: gripper_base (0,0.0082,0) +(0,1,0)
86 left_finger (0,0,0) +(0,0,1)
89 prismatic: gripper_base (0,-0.0082,0) +(0,-1,0)
90 right_finger (0,0,0) +(0,0,1)
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