jaco.world
Go to the documentation of this file.
1 
3 [LINKS]
4 
5  root
6  jaco_link_base : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_base_0.off" color (0.792157,0.819608,0.933333) decoration
7  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_base_1.off" hidden
8 
9  jaco_link_1 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_1_0.off" color (0.792157,0.819608,0.933333) decoration
10  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_1_1.off" hidden
11 
12  jaco_link_2 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_2_0.off" color (0.792157,0.819608,0.933333) decoration
13  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_2_1.off" hidden
14 
15  jaco_link_3 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_3_0.off" color (0.792157,0.819608,0.933333) decoration
16  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_3_1.off" hidden
17 
18  jaco_link_4 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_4_0.off" color (0.792157,0.819608,0.933333) decoration
19  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_4_1.off" hidden
20 
21  jaco_link_5 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_5_0.off" color (0.792157,0.819608,0.933333) decoration
22  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_5_1.off" hidden
23 
24  jaco_link_hand : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_hand_0.off" color (0.792157,0.819608,0.933333) decoration
25  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_hand_1.off" hidden
26 
27  jaco_link_finger_1 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_1_0.off" color (0.792157,0.819608,0.933333) decoration
28  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_1_1.off" hidden
29 
30  jaco_link_finger_2 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_2_0.off" color (0.792157,0.819608,0.933333) decoration
31  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_2_1.off" hidden
32 
33  jaco_link_finger_3 : body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_3_0.off" color (0.792157,0.819608,0.933333) decoration
34  body "/Users/porta/cuikgit/CuikSuite/examples/Jaco/bodies/jaco_jaco_link_finger_3_1.off" hidden
35 
36 [JOINTS]
37 
38  fix: root jaco_link_base ID
39 
40  revolute: jaco_link_base (0.0000000000000000,0.0000000000000000,0.1535000000000000) (0.0000000000000000,0.0000000000000000,1.1535000000000000)
41  jaco_link_1 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,-1.0000000000000000)
42 
43  revolute: jaco_link_1 (0.0000000000000000,0.0000000000000000,-0.1185000000000000) (0.0000000000000000,1.0000000000000000,-0.1185000000000000)
44  jaco_link_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
45 
46  revolute: jaco_link_2 (0.4100000000000000,0.0000000000000000,0.0000000000000000) (0.4099999999999999,0.0000000000000000,1.0000000000000000)
47  jaco_link_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,-1.0000000000000000)
48 
49  revolute: jaco_link_3 (0.2070000000000000,0.0000000000000000,-0.0112500000000000) (1.2070000000000001,0.0000000000000000,-0.0112499999999999)
50  jaco_link_4 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,-1.0000000000000000)
51 
52  revolute: jaco_link_4 (0.0343000000000000,0.0000000000000000,-0.0658800000000000) (0.8534520442890599,0.0000000000000000,-0.6394564363509487)
53  jaco_link_5 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,-1.0000000000000000)
54 
55  revolute: jaco_link_5 (0.0343000000000000,0.0000000000000000,-0.0658800000000000) (0.8534520442890599,0.0000000000000000,-0.6394564363509487)
56  jaco_link_hand (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,-1.0000000000000000)
57 
58  revolute: jaco_link_hand (-0.0397800000000000,0.0000000000000000,-0.1007100000000000) (0.1629385452277931,-0.9742324670436451,-0.1995851312453248)
59  jaco_link_finger_1 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
60  range [0,0.698131700798] +(-0.4383807829832537,0.0000000000000000,-0.8987893463492931) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
61 
62  revolute: jaco_link_hand (0.0356900000000000,-0.0216000000000000,-0.1007100000000000) (0.2244431617884078,0.9601662107755546,-0.1232344599111316)
63  jaco_link_finger_2 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
64  range [0,0.698131700798] +(0.4262139315561362,-0.1025641040348512,-0.8987893463492931) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
65 
66  revolute: jaco_link_hand (0.0356900000000000,0.0216000000000000,-0.1007100000000000) (-0.1530607957232274,1.0033664002590053,-0.0781739746999754)
67  jaco_link_finger_3 (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
68  range [0,0.698131700798] +(0.4004326353192382,0.0978991883286667,-0.9110814746749484) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
69 
70