pr2.world
Go to the documentation of this file.
1 
2 [CONSTANTS]
3 
4 DEG2RAD:=PI/180
5 
6 [LINKS]
7 
8  base_footprint: body "bodies/base_link.off" white
9 
10  base: body "bodies/base_link.off" white
11 
12  laser_tilt: body "bodies/laser_tilt_mount_link.off" white
13 
14  wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
15  wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
16  wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
17 
18  wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
19  wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
20  wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
21 
22  wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
23  wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
24  wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
25 
26  wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
27  wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
28  wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
29 
30  torso: body "bodies/torso_lift_link.off" white
31 
32  head_pan: body "bodies/head_pan_link.off" white
33  head_tilt: body "bodies/head_tilt_link.off" white
34 
35  l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
36  l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
37  l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
38  l_upper_arm: body "bodies/l_upper_arm_link.off" white
39  l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
40  l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
41  l_forearm: body "bodies/l_forearm_link.off" white
42  l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
43  l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
44  l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
45  l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
46  l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
47  l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
48  l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
49 
50 
51  r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
52  r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
53  r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
54  r_upper_arm: body "bodies/r_upper_arm_link.off" white
55  r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
56  r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
57  r_forearm: body "bodies/r_forearm_link.off" white
58  r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
59  r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
60  r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
61  r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
62  r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
63  r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
64  r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
65 
66 [JOINTS]
67 
68  FIX: base_footprint base
69  Txyz(0,0,0.051)
70 
71  FIX: torso laser_tilt
72  Txyz (0.09893,0,0.227)% (0.275,0,0.252)
73 
74  FIX: torso head_pan
75  Txyz(-0.01707,0,0.38145)
76 
77  FIX: head_pan head_tilt
78  Txyz(0.068,0,0)
79 
80  /* Wheels */
81  FIX: base wheel_rotation_1
82  Txyz (-0.2246,0.2246,0.0282)
83  FIX: wheel_rotation_1 wheel_1_left
84  Txyz(0,0.049,0)
85  FIX: wheel_rotation_1 wheel_1_right
86  Txyz(0,-0.049,0)
87 
88  FIX: base wheel_rotation_2
89  Txyz (-0.2246,-0.2246,0.0282)
90  FIX: wheel_rotation_2 wheel_2_left
91  Txyz(0,0.049,0)
92  FIX: wheel_rotation_2 wheel_2_right
93  Txyz(0,-0.049,0)
94 
95  FIX: base wheel_rotation_3
96  Txyz (0.2246,0.2246,0.0282)
97  FIX: wheel_rotation_3 wheel_3_left
98  Txyz(0,0.049,0)
99  FIX: wheel_rotation_3 wheel_3_right
100  Txyz(0,-0.049,0)
101 
102  FIX: base wheel_rotation_4
103  Txyz (0.2246,-0.2246,0.0282)
104  FIX: wheel_rotation_4 wheel_4_left
105  Txyz(0,0.049,0)
106  FIX: wheel_rotation_4 wheel_4_right
107  Txyz(0,-0.049,0)
108 
109  /* Torso and arms (with grippers) */
110  % FIX: base torso
111  % Txyz(-0.05,0,0.739675)
112  PRISMATIC: base (-0.05,0,0.739675)+(0,0,1)
113  torso (0,0,0)+(0,0,1)
114  range [0,0.31]
115 
116  % FIX: torso l_shoulder_pan
117  % Txyz(0,0.188,0)
118  REVOLUTE: torso (0,0.188,0)+(0,0,1)
119  l_shoulder_pan (0,0,0)+(0,0,1)
120  range [-40.9437*DEG2RAD,130.944*DEG2RAD]
121  +(1,0,0)
122  +(1,0,0)
123 
124  % FIX: l_shoulder_pan l_shoulder_lift
125  % Txyz(0.1,0,0)
126  REVOLUTE: l_shoulder_pan (0.1,0,0)+(0,1,0)
127  l_shoulder_lift (0,0,0)+(0,1,0)
128  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
129  +(1,0,0)
130  +(1,0,0)
131 
132  % FIX: l_shoulder_lift l_upper_arm_roll
133  % Id
134  REVOLUTE: l_shoulder_lift (0,0,0)+(1,0,0)
135  l_upper_arm_roll (0,0,0)+(1,0,0)
136  range [-45.8366*DEG2RAD,223.454*DEG2RAD]
137  +(0,1,0)
138  +(0,1,0)
139 
140  FIX: l_upper_arm_roll l_upper_arm
141  Id
142 
143  % FIX: l_upper_arm l_elbow_flex
144  % Txyz(0.4,0,0)
145  REVOLUTE: l_upper_arm (0.4,0,0)+(0,1,0)
146  l_elbow_flex (0,0,0)+(0,1,0)
147  range [-133.001*DEG2RAD,0*DEG2RAD]
148  +(1,0,0)
149  +(1,0,0)
150 
151  % FIX: l_elbow_flex l_forearm_roll
152  % Id
153  REVOLUTE: l_elbow_flex (0,0,0)+(1,0,0)
154  l_forearm_roll (0,0,0)+(1,0,0)
155 
156  FIX: l_forearm_roll l_forearm
157  Id
158 
159  % FIX: l_forearm l_wrist_flex
160  % Txyz(0.321,0,0)
161  REVOLUTE: l_forearm (0.321,0,0)+(0,1,0)
162  l_wrist_flex (0,0,0)+(0,1,0)
163  range [-124.905*DEG2RAD,0*DEG2RAD]
164  +(1,0,0)
165  +(1,0,0)
166 
167  % FIX: l_wrist_flex l_wrist_roll
168  % Id
169  REVOLUTE: l_wrist_flex (0,0,0)+(1,0,0)
170  l_wrist_roll (0,0,0)+(1,0,0)
171 
172  FIX: l_wrist_roll l_gripper_palm
173  Id
174 
175  % FIX: l_gripper_palm l_gripper_l_finger
176  % Txyz(0.07691,0.01,0)
177  REVOLUTE: l_gripper_palm (0.07691,0.01,0)+(0,0,1)
178  l_gripper_l_finger (0,0,0)+(0,0,1)
179  range [0*DEG2RAD,31.3981*DEG2RAD]
180  +(1,0,0)
181  +(1,0,0)
182 
183  % FIX: l_gripper_l_finger l_gripper_l_finger_tip
184  % Txyz(0.09137,0.00495,0)
185  CREVOLUTE: l_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
186  l_gripper_l_finger_tip (0,0,0)+(0,0,-1)
187  range [0*DEG2RAD,31.3981*DEG2RAD]
188  +(1,0,0)
189  +(1,0,0)
190 
191  % FIX: l_gripper_palm l_gripper_r_finger
192  % Txyz(0.07691,-0.01,0)*Rx(pi) % !!!
193  CREVOLUTE: l_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
194  l_gripper_r_finger (0,0,0)+(0,0,1)
195  range [0*DEG2RAD,31.3981*DEG2RAD]
196  +(1,0,0)
197  +(1,0,0)
198 
199  % FIX: l_gripper_r_finger l_gripper_r_finger_tip
200  % Txyz(0.09137,-0.00495,0)
201  CREVOLUTE: l_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
202  l_gripper_r_finger_tip (0,0,0)+(0,0,-1)
203  range [0*DEG2RAD,31.3981*DEG2RAD]
204  +(1,0,0)
205  +(1,0,0)
206 
207 
208  % FIX: torso r_shoulder_pan
209  % Txyz(0,-0.188,0)
210  REVOLUTE: torso (0,-0.188,0)+(0,0,1)
211  r_shoulder_pan (0,0,0)+(0,0,1)
212  range [-130.944*DEG2RAD,40.9437*DEG2RAD]
213  +(1,0,0)
214  +(1,0,0)
215 
216  % FIX: r_shoulder_pan r_shoulder_lift
217  % Txyz(0.1,0,0)
218  REVOLUTE: r_shoulder_pan (0.1,0,0)+(0,1,0)
219  r_shoulder_lift (0,0,0)+(0,1,0)
220  range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
221  +(1,0,0)
222  +(1,0,0)
223 
224  % FIX: r_shoulder_lift r_upper_arm_roll
225  % Id
226  REVOLUTE: r_shoulder_lift (0,0,0)+(1,0,0)
227  r_upper_arm_roll (0,0,0)+(1,0,0)
228  range [-223.454*DEG2RAD,45.8366*DEG2RAD]
229  +(0,1,0)
230  +(0,1,0)
231 
232  FIX: r_upper_arm_roll r_upper_arm
233  Id
234 
235  % FIX: r_upper_arm r_elbow_flex
236  % Txyz(0.4,0,0)
237  REVOLUTE: r_upper_arm (0.4,0,0)+(0,1,0)
238  r_elbow_flex (0,0,0)+(0,1,0)
239  range [-133.001*DEG2RAD,0*DEG2RAD]
240  +(1,0,0)
241  +(1,0,0)
242 
243  % FIX: r_elbow_flex r_forearm_roll
244  % Id
245  REVOLUTE: r_elbow_flex (0,0,0)+(1,0,0)
246  r_forearm_roll (0,0,0)+(1,0,0)
247 
248  FIX: r_forearm_roll r_forearm
249  Id
250 
251  % FIX: r_forearm r_wrist_flex
252  % Txyz(0.321,0,0)
253  REVOLUTE: r_forearm (0.321,0,0)+(0,1,0)
254  r_wrist_flex (0,0,0)+(0,1,0)
255  range [-124.905*DEG2RAD,0*DEG2RAD]
256  +(1,0,0)
257  +(1,0,0)
258 
259  % FIX: r_wrist_flex r_wrist_roll
260  % Id
261  REVOLUTE: r_wrist_flex (0,0,0)+(1,0,0)
262  r_wrist_roll (0,0,0)+(1,0,0)
263 
264  FIX: r_wrist_roll r_gripper_palm
265  Id
266 
267  % FIX: r_gripper_palm r_gripper_l_finger
268  % Txyz(0.07691,0.01,0)
269  REVOLUTE: r_gripper_palm (0.07691,0.01,0)+(0,0,1)
270  r_gripper_l_finger (0,0,0)+(0,0,1)
271  range [0*DEG2RAD,31.3981*DEG2RAD]
272  +(1,0,0)
273  +(1,0,0)
274 
275  % FIX: r_gripper_l_finger r_gripper_l_finger_tip
276  % Txyz(0.09137,0.00495,0)
277  CREVOLUTE: r_gripper_l_finger (0.09137,0.00495,0)+(0,0,-1)
278  r_gripper_l_finger_tip (0,0,0)+(0,0,-1)
279  range [0*DEG2RAD,31.3981*DEG2RAD]
280  +(1,0,0)
281  +(1,0,0)
282 
283  % FIX: r_gripper_palm r_gripper_r_finger
284  % Txyz(0.07691,-0.01,0)*Rx(pi) % !!!
285  CREVOLUTE: r_gripper_palm (0.07691,-0.01,0)+(0,0,-1)
286  r_gripper_r_finger (0,0,0)+(0,0,1)
287  range [0*DEG2RAD,31.3981*DEG2RAD]
288  +(1,0,0)
289  +(1,0,0)
290 
291  % FIX: r_gripper_r_finger r_gripper_r_finger_tip
292  % Txyz(0.09137,-0.00495,0)
293  CREVOLUTE: r_gripper_r_finger (0.09137,0.00495,0)+(0,0,-1)
294  r_gripper_r_finger_tip (0,0,0)+(0,0,-1)
295  range [0*DEG2RAD,31.3981*DEG2RAD]
296  +(1,0,0)
297  +(1,0,0)
298 
299 
DEG2RAD
#define DEG2RAD
Constant to transform from degrees to radiants.
Definition: defines.h:169