10 table_bases: body
"bodies/table1" 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
15 body "bodies/plane.off" yellow % color (0.8,0.8,0.8) decoration
17 moved_box: body "bodies/box1.off"
21 base_footprint: body "bodies/base_link.off" white
23 base: body "bodies/base_link.off" white
25 laser_tilt: body "bodies/laser_tilt_mount_link.off" white
27 wheel_rotation_1: body "bodies/bl_caster_rotation_link.off" white
28 wheel_1_left: body "bodies/bl_caster_l_wheel_link.off" black
29 wheel_1_right: body "bodies/bl_caster_r_wheel_link.off" black
31 wheel_rotation_2: body "bodies/br_caster_rotation_link.off" white
32 wheel_2_left: body "bodies/br_caster_l_wheel_link.off" black
33 wheel_2_right: body "bodies/br_caster_r_wheel_link.off" black
35 wheel_rotation_3: body "bodies/fl_caster_rotation_link.off" white
36 wheel_3_left: body "bodies/fl_caster_l_wheel_link.off" black
37 wheel_3_right: body "bodies/fl_caster_r_wheel_link.off" black
39 wheel_rotation_4: body "bodies/fr_caster_rotation_link.off" white
40 wheel_4_left: body "bodies/fr_caster_l_wheel_link.off" black
41 wheel_4_right: body "bodies/fr_caster_r_wheel_link.off" black
43 torso: body "bodies/torso_lift_link.off" white
45 head_pan: body "bodies/head_pan_link.off" white
46 head_tilt: body "bodies/head_tilt_link.off" white
48 l_shoulder_pan : body "bodies/l_shoulder_pan_link.off" white
49 l_shoulder_lift: body "bodies/l_shoulder_lift_link.off" white
50 l_upper_arm_roll: body "bodies/l_upper_arm_roll_link.off" white
51 l_upper_arm: body "bodies/l_upper_arm_link.off" white
52 l_elbow_flex: body "bodies/l_elbow_flex_link.off" white
53 l_forearm_roll: body "bodies/l_forearm_roll_link.off" white
54 l_forearm: body "bodies/l_forearm_link.off" white
55 l_wrist_flex: body "bodies/l_wrist_flex_link.off" white
56 l_wrist_roll: body "bodies/l_wrist_roll_link.off" white
57 l_gripper_palm: body "bodies/l_gripper_palm_link.off" white
58 l_gripper_l_finger: body "bodies/l_gripper_l_finger_link.off" white
59 l_gripper_l_finger_tip: body "bodies/l_gripper_l_finger_tip_link.off" white
60 l_gripper_r_finger: body "bodies/l_gripper_r_finger_link.off" white
61 l_gripper_r_finger_tip: body "bodies/l_gripper_r_finger_tip_link.off" white
64 r_shoulder_pan : body "bodies/r_shoulder_pan_link.off" white
65 r_shoulder_lift: body "bodies/r_shoulder_lift_link.off" white
66 r_upper_arm_roll: body "bodies/r_upper_arm_roll_link.off" white
67 r_upper_arm: body "bodies/r_upper_arm_link.off" white
68 r_elbow_flex: body "bodies/r_elbow_flex_link.off" white
69 r_forearm_roll: body "bodies/r_forearm_roll_link.off" white
70 r_forearm: body "bodies/r_forearm_link.off" white
71 r_wrist_flex: body "bodies/r_wrist_flex_link.off" white
72 r_wrist_roll: body "bodies/r_wrist_roll_link.off" white
73 r_gripper_palm: body "bodies/r_gripper_palm_link.off" white
74 r_gripper_l_finger: body "bodies/r_gripper_l_finger_link.off" white
75 r_gripper_l_finger_tip: body "bodies/r_gripper_l_finger_tip_link.off" white
76 r_gripper_r_finger: body "bodies/r_gripper_r_finger_link.off" white
77 r_gripper_r_finger_tip: body "bodies/r_gripper_r_finger_tip_link.off" white
81 fix: world base_footprint Id
83 fix: base_footprint base
87 Txyz (0.09893,0,0.227)
90 Txyz(-0.01707,0,0.38145)
92 fix: head_pan head_tilt
96 fix: base wheel_rotation_1
97 Txyz (-0.2246,0.2246,0.0282)
98 fix: wheel_rotation_1 wheel_1_left
100 fix: wheel_rotation_1 wheel_1_right
103 fix: base wheel_rotation_2
104 Txyz (-0.2246,-0.2246,0.0282)
105 fix: wheel_rotation_2 wheel_2_left
107 fix: wheel_rotation_2 wheel_2_right
110 fix: base wheel_rotation_3
111 Txyz (0.2246,0.2246,0.0282)
112 fix: wheel_rotation_3 wheel_3_left
114 fix: wheel_rotation_3 wheel_3_right
117 fix: base wheel_rotation_4
118 Txyz (0.2246,-0.2246,0.0282)
119 fix: wheel_rotation_4 wheel_4_left
121 fix: wheel_rotation_4 wheel_4_right
126 Txyz(-0.05,0,0.839675)
128 revolute: torso (0,0.188,0)+(0,0,1)
129 l_shoulder_pan (0,0,0)+(0,0,1)
130 range [-40.9437*
DEG2RAD,130.944*DEG2RAD]
134 revolute: l_shoulder_pan (0.1,0,0)+(0,1,0)
135 l_shoulder_lift (0,0,0)+(0,1,0)
136 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
140 revolute: l_shoulder_lift (0,0,0)+(1,0,0)
141 l_upper_arm_roll (0,0,0)+(1,0,0)
142 range [-45.8366*DEG2RAD,223.454*DEG2RAD]
146 fix: l_upper_arm_roll l_upper_arm
149 revolute: l_upper_arm (0.4,0,0)+(0,1,0)
150 l_elbow_flex (0,0,0)+(0,1,0)
151 range [-133.001*DEG2RAD,0*DEG2RAD]
155 revolute: l_elbow_flex (0,0,0)+(1,0,0)
156 l_forearm_roll (0,0,0)+(1,0,0)
158 fix: l_forearm_roll l_forearm
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]
167 revolute: l_wrist_flex (0,0,0)+(1,0,0)
168 l_wrist_roll (0,0,0)+(1,0,0)
170 fix: l_wrist_roll l_gripper_palm
173 fix: l_gripper_palm l_gripper_l_finger
176 fix: l_gripper_l_finger l_gripper_l_finger_tip
177 Txyz(0.09137,0.00495,0)
179 fix: l_gripper_palm l_gripper_r_finger
180 Txyz(0.07691,-0.01,0)*Rx(pi)
182 fix: l_gripper_r_finger l_gripper_r_finger_tip
183 Txyz(0.09137,-0.00495,0)
185 revolute: torso (0,-0.188,0)+(0,0,1)
186 r_shoulder_pan (0,0,0)+(0,0,1)
187 range [-130.944*DEG2RAD,40.9437*DEG2RAD]
191 revolute: r_shoulder_pan (0.1,0,0)+(0,1,0)
192 r_shoulder_lift (0,0,0)+(0,1,0)
193 range [-30.0001*DEG2RAD,80.0021*DEG2RAD]
197 revolute: r_shoulder_lift (0,0,0)+(1,0,0)
198 r_upper_arm_roll (0,0,0)+(1,0,0)
199 range [-223.454*DEG2RAD,45.8366*DEG2RAD]
203 fix: r_upper_arm_roll r_upper_arm
206 revolute: r_upper_arm (0.4,0,0)+(0,1,0)
207 r_elbow_flex (0,0,0)+(0,1,0)
208 range [-133.001*DEG2RAD,0*DEG2RAD]
212 revolute: r_elbow_flex (0,0,0)+(1,0,0)
213 r_forearm_roll (0,0,0)+(1,0,0)
215 fix: r_forearm_roll r_forearm
218 revolute: r_forearm (0.321,0,0)+(0,1,0)
219 r_wrist_flex (0,0,0)+(0,1,0)
220 range [-124.905*DEG2RAD,0*DEG2RAD]
224 revolute: r_wrist_flex (0,0,0)+(1,0,0)
225 r_wrist_roll (0,0,0)+(1,0,0)
227 fix: r_wrist_roll r_gripper_palm
230 fix: r_gripper_palm r_gripper_l_finger
231 Txyz(0.07691,0.01,0)*Rz(pi/18)
233 fix: r_gripper_l_finger r_gripper_l_finger_tip
234 Txyz(0.09137,0.00495,0)
236 fix: r_gripper_palm r_gripper_r_finger
237 Txyz(0.07691,-0.01,0)*Rx(pi)*Rz(pi/18)
239 fix: r_gripper_r_finger r_gripper_r_finger_tip
240 Txyz(0.09137,-0.00495,0)
242 fix: world table_bases Id
244 prismatic: world (0,0,0)+(1,0,0)
245 box_virtual (0,0,0)+(1,0,0)
248 prismatic: box_virtual (0,0,0)+(0,0,1)
249 moved_box (0,0,0)+(0,0,1)
252 fix: r_wrist_roll moved_box Rx(Pi/2)*Txyz(0.4,0,-0.1)*Rz(-Pi/2)
254 fix: l_wrist_roll moved_box Rx(-Pi/2)*Txyz(0.4,0,-0.1)*Rz(Pi/2)
259 check : table_bases, moved_box
261 check: base_footprint, moved_box
262 check: base, moved_box
263 check: laser_tilt, moved_box
264 check: wheel_rotation_1, moved_box
265 check: wheel_1_left, moved_box
266 check: wheel_1_right, moved_box
267 check: wheel_rotation_2, moved_box
268 check: wheel_2_left, moved_box
269 check: wheel_2_right, moved_box
270 check: wheel_rotation_3, moved_box
271 check: wheel_3_left, moved_box
272 check: wheel_3_right, moved_box
273 check: wheel_rotation_4, moved_box
274 check: wheel_4_left, moved_box
275 check: wheel_4_right, moved_box
276 check: torso, moved_box
277 check: head_pan, moved_box
278 check: head_tilt, moved_box
280 check : l_shoulder_pan, moved_box
281 check : l_shoulder_lift, moved_box
282 check : l_upper_arm_roll, moved_box
283 check : l_upper_arm, moved_box
284 check : l_elbow_flex, moved_box
285 check : l_forearm_roll, moved_box
286 check : l_forearm, moved_box
287 check : l_wrist_flex, moved_box
288 check : l_wrist_roll, moved_box
290 check : r_shoulder_pan, moved_box
291 check : r_shoulder_lift, moved_box
292 check : r_upper_arm_roll, moved_box
293 check : r_upper_arm, moved_box
294 check : r_elbow_flex, moved_box
295 check : r_forearm_roll, moved_box
296 check : r_forearm, moved_box
297 check : r_wrist_flex, moved_box
298 check : r_wrist_roll, moved_box
300 check : torso, moved_box
302 check : l_wrist_roll, table_bases
303 check : l_shoulder_pan, table_bases
304 check : l_shoulder_lift, table_bases
305 check : l_upper_arm_roll, table_bases
306 check : l_upper_arm, table_bases
307 check : l_elbow_flex, table_bases
308 check : l_forearm_roll, table_bases
309 check : l_forearm, table_bases
310 check : l_wrist_flex, table_bases
311 check : l_wrist_roll, table_bases
313 check : r_wrist_roll, table_bases
314 check : r_shoulder_pan, table_bases
315 check : r_shoulder_lift, table_bases
316 check : r_upper_arm_roll, table_bases
317 check : r_upper_arm, table_bases
318 check : r_elbow_flex, table_bases
319 check : r_forearm_roll, table_bases
320 check : r_forearm, table_bases
321 check : r_wrist_flex, table_bases
322 check : r_wrist_roll, table_bases
#define DEG2RAD
Constant to transform from degrees to radiants.
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