ur5.world
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1 
3 [LINKS]
4 
5  base_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_base_link_0.off" color (0.5,0.5,0.5) decoration
6  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_base_link_1.off" hidden
7 
8  shoulder_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_shoulder_link_0.off" color (0.5,0.5,0.5) decoration
9  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_shoulder_link_1.off" hidden
10 
11  upper_arm_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_upper_arm_link_0.off" color (0.5,0.5,0.5) decoration
12  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_upper_arm_link_1.off" hidden
13 
14  forearm_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_forearm_link_0.off" color (0.5,0.5,0.5) decoration
15  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_forearm_link_1.off" hidden
16 
17  wrist_1_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_1_link_0.off" color (0.5,0.5,0.5) decoration
18  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_1_link_1.off" hidden
19 
20  wrist_2_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_2_link_0.off" color (0.5,0.5,0.5) decoration
21  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_2_link_1.off" hidden
22 
23  wrist_3_link : body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_3_link_0.off" color (0.5,0.5,0.5) decoration
24  body "/Users/porta/cuikgit/CuikSuite/examples/UniversalRobot/bodies/ur5_wrist_3_link_1.off" hidden
25 
26  ee_link
27 [JOINTS]
28 
29  revolute: base_link (0.0000000000000000,0.0000000000000000,0.0891590000000000) (0.0000000000000000,0.0000000000000000,1.0891590000000000)
30  shoulder_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
31  range [-6.2831853,6.2831853] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
32 
33  revolute: shoulder_link (0.0000000000000000,0.1358500000000000,0.0000000000000000) (0.0000000000000000,1.1358500000000000,0.0000000000000000)
34  upper_arm_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,1.0000000000000000,0.0000000000000000)
35  range [-6.2831853,6.2831853] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(0.0000000000000000,0.0000000000000000,1.0000000000000000)
36 
37  revolute: upper_arm_link (0.0000000000000000,-0.1197000000000000,0.4250000000000000) (0.0000000000000000,0.8803000000000000,0.4250000000000000)
38  forearm_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,1.0000000000000000,0.0000000000000000)
39  range [-6.2831853,6.2831853] +(0.0000000000000000,0.0000000000000000,1.0000000000000000) +(0.0000000000000000,0.0000000000000000,1.0000000000000000)
40 
41  revolute: forearm_link (0.0000000000000000,0.0000000000000000,0.3922500000000000) (0.0000000000000000,1.0000000000000000,0.3922500000000000)
42  wrist_1_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,1.0000000000000000,0.0000000000000000)
43  range [-3.14159265,0.7853981625] +(1.0000000000000000,0.0000000000000000,0.0000000000000001) +(0.0000000000000000,0.0000000000000000,1.0000000000000000)
44 
45  revolute: wrist_1_link (0.0000000000000000,0.0930000000000000,0.0000000000000000) (0.0000000000000000,0.0930000000000000,1.0000000000000000)
46  wrist_2_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,0.0000000000000000,1.0000000000000000)
47  range [-3.14159265,3.14159265] +(1.0000000000000000,0.0000000000000000,0.0000000000000000) +(1.0000000000000000,0.0000000000000000,0.0000000000000000)
48 
49  revolute: wrist_2_link (0.0000000000000000,0.0000000000000000,0.0946500000000000) (0.0000000000000000,1.0000000000000000,0.0946500000000000)
50  wrist_3_link (0.0000000000000000,0.0000000000000000,0.0000000000000000) (0.0000000000000000,1.0000000000000000,0.0000000000000000)
51  range [-3.14159265,3.14159265] +(0.0000000000000000,0.0000000000000000,1.0000000000000000) +(0.0000000000000000,0.0000000000000000,1.0000000000000000)
52 
53  fix: wrist_3_link ee_link Txyz(0,0.0823,0)*Rz(1.5707963267948966)
54 
55