baxter.world
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6 torso : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_torso_0.off" color (0.5,0.5,0.5) decoration
11 pedestal : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_pedestal_0.off" color (0.2,0.2,0.2) decoration
14 head : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_head_0.off" color (0.2,0.2,0.2) decoration
17 sonar_ring : cylinder 0.085 (-0.0347000000000000,0,0.0045300000000000) (-0.0347000000000000,0,0.0145300000000000) color (0.2,0.2,0.2) decoration
20 screen : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_screen_0.off" color (0.5,0.1,0.1) decoration
32 right_upper_shoulder : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_upper_shoulder_0.off" color (0.5,0.1,0.1) decoration
35 right_lower_shoulder : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_lower_shoulder_0.off" color (0.5,0.1,0.1) decoration
38 right_upper_elbow : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_upper_elbow_0.off" color (0.5,0.1,0.1) decoration
43 right_lower_elbow : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_lower_elbow_0.off" color (0.5,0.1,0.1) decoration
46 right_upper_forearm : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_upper_forearm_0.off" color (0.5,0.1,0.1) decoration
52 right_lower_forearm : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_lower_forearm_0.off" color (0.5,0.1,0.1) decoration
55 right_wrist : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_wrist_0.off" color (0.1,0.1,0.1) decoration
60 right_hand_camera : cylinder 0.02 (0,0,-0.0050000000000000) (0,0,0.0050000000000000) color (0,0,1) decoration
63 right_hand_range : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_hand_range_0.off" color (0,0,1) decoration
65 right_gripper_base : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_gripper_base_0.off" color (0.5,0.1,0.1) decoration
67 right_gripper : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_right_gripper_0.off" color (0,0,0) decoration
70 left_upper_shoulder : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_upper_shoulder_0.off" color (0.5,0.1,0.1) decoration
73 left_lower_shoulder : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_lower_shoulder_0.off" color (0.5,0.1,0.1) decoration
76 left_upper_elbow : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_upper_elbow_0.off" color (0.5,0.1,0.1) decoration
81 left_lower_elbow : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_lower_elbow_0.off" color (0.5,0.1,0.1) decoration
84 left_upper_forearm : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_upper_forearm_0.off" color (0.5,0.1,0.1) decoration
90 left_lower_forearm : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_lower_forearm_0.off" color (0.5,0.1,0.1) decoration
93 left_wrist : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_wrist_0.off" color (0.1,0.1,0.1) decoration
98 left_hand_camera : cylinder 0.02 (0,0,-0.0050000000000000) (0,0,0.0050000000000000) color (0,0,1) decoration
101 left_hand_range : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_hand_range_0.off" color (0,0,1) decoration
103 left_gripper_base : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_gripper_base_0.off" color (0.5,0.1,0.1) decoration
105 left_gripper : body "/Users/porta/cuik/CuikSuite/examples/Baxter/bodies/baxter_left_gripper_0.off" color (0,0,0) decoration
117 fix: torso left_torso_itb Txyz(-0.08897,0.15593,0.389125)*Rz(3.1415926535897931)*Ry(0.0000000000000001)*Rx(1.5707963267948966)
123 revolute: torso (0.0600000000000000,0.0000000000000000,0.6860000000000001) (0.0600000000000000,0.0000000000000000,1.6859999999999999)
124 head (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
125 range [-1.57079632679,1.57079632679] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
135 revolute: right_arm_mount (0.0556950000000000,0.0000000000000000,0.0110380000000000) (0.0556950000000000,0.0000000000000000,1.0110380000000001)
136 right_upper_shoulder (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
137 range [-1.70167993878,1.70167993878] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
139 revolute: right_upper_shoulder (0.0690000000000000,0.0000000000000000,0.2703500000000000) (0.0690000000000000,1.0000000000000000,0.2703500000000000)
140 right_lower_shoulder (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
141 range [-2.147,1.047] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
143 revolute: right_lower_shoulder (0.1020000000000000,0.0000000000000000,0.0000000000000000) (1.1020000000000001,0.0000000000000000,0.0000000000000000)
144 right_upper_elbow (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
145 range [-3.05417993878,3.05417993878] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
147 fix: right_lower_shoulder right_upper_elbow_visual Txyz(0.107,0,0)*Rz(1.5707963267948966)*Rx(1.5707963267948966)
149 revolute: right_upper_elbow (0.0690000000000000,0.0000000000000000,0.2624200000000000) (0.0690000000000000,1.0000000000000000,0.2624200000000000)
150 right_lower_elbow (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
151 range [-0.05,2.618] +(0.0000000000000001,0.0000000000000000,1.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
153 revolute: right_lower_elbow (0.1035900000000000,0.0000000000000000,0.0000000000000000) (1.1035900000000001,0.0000000000000000,0.0000000000000000)
154 right_upper_forearm (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
155 range [-3.059,3.059] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
157 fix: right_lower_elbow right_upper_forearm_visual Txyz(0.088,0,0)*Rz(1.5707963267948966)*Rx(1.5707963267948966)
159 fix: right_upper_forearm right_arm_itb Txyz(-0.0565,0,0.12)*Rz(1.5707963267948966)*Rx(-1.5707963267948966)
161 revolute: right_upper_forearm (0.0100000000000000,0.0000000000000000,0.2707000000000000) (0.0099999999999999,1.0000000000000000,0.2707000000000000)
162 right_lower_forearm (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
163 range [-1.57079632679,2.094] +(0.0000000000000001,0.0000000000000000,1.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
165 revolute: right_lower_forearm (0.1159750000000000,0.0000000000000000,0.0000000000000000) (1.1159749999999999,0.0000000000000000,0.0000000000000000)
166 right_wrist (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
167 range [-3.059,3.059] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
175 fix: right_hand right_hand_range Txyz(0.032,-0.020245,0.0288)*Rz(-1.5707963267948966)*Ry(-1.5707963267948966)
183 revolute: left_arm_mount (0.0556950000000000,0.0000000000000000,0.0110380000000000) (0.0556950000000000,0.0000000000000000,1.0110380000000001)
184 left_upper_shoulder (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
185 range [-1.70167993878,1.70167993878] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
187 revolute: left_upper_shoulder (0.0690000000000000,0.0000000000000000,0.2703500000000000) (0.0690000000000000,1.0000000000000000,0.2703500000000000)
188 left_lower_shoulder (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
189 range [-2.147,1.047] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
191 revolute: left_lower_shoulder (0.1020000000000000,0.0000000000000000,0.0000000000000000) (1.1020000000000001,0.0000000000000000,0.0000000000000000)
192 left_upper_elbow (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
193 range [-3.05417993878,3.05417993878] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
195 fix: left_lower_shoulder left_upper_elbow_visual Txyz(0.107,0,0)*Rz(1.5707963267948966)*Rx(1.5707963267948966)
197 revolute: left_upper_elbow (0.0690000000000000,0.0000000000000000,0.2624200000000000) (0.0690000000000000,1.0000000000000000,0.2624200000000000)
198 left_lower_elbow (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
199 range [-0.05,2.618] +(0.0000000000000001,0.0000000000000000,1.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
201 revolute: left_lower_elbow (0.1035900000000000,0.0000000000000000,0.0000000000000000) (1.1035900000000001,0.0000000000000000,0.0000000000000000)
202 left_upper_forearm (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
203 range [-3.059,3.059] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
205 fix: left_lower_elbow left_upper_forearm_visual Txyz(0.088,0,0)*Rz(1.5707963267948966)*Rx(1.5707963267948966)
207 fix: left_upper_forearm left_arm_itb Txyz(-0.0565,0,0.12)*Rz(1.5707963267948966)*Rx(-1.5707963267948966)
209 revolute: left_upper_forearm (0.0100000000000000,0.0000000000000000,0.2707000000000000) (0.0099999999999999,1.0000000000000000,0.2707000000000000)
210 left_lower_forearm (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
211 range [-1.57079632679,2.094] +(0.0000000000000001,0.0000000000000000,1.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
213 revolute: left_lower_forearm (0.1159750000000000,0.0000000000000000,0.0000000000000000) (1.1159749999999999,0.0000000000000000,0.0000000000000000)
214 left_wrist (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
215 range [-3.059,3.059] +(0.0000000000000001,1.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
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