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9 world : body "bodies/plane.off" yellow % color(0.9,0.9,0.9)
16 base: body "bodies/base_frame.off" color (0,0,0)
18 frw : body "bodies/front-right_wheel.off" color (0.619,0.346,0.035)
19 flw : body "bodies/front-left_wheel.off" color (0.619,0.346,0.035)
20 brw : body "bodies/back-right_wheel.off" color (0.619,0.346,0.035)
21 blw : body "bodies/back-left_wheel.off" color (0.619,0.346,0.035)
25 arm_base_1: body "bodies/arm_base_frame.off" color (0,0,0)
27 arm_joint1_1: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
29 arm_joint2_1: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
31 arm_joint3_1: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
33 arm_joint4_1: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
35 arm_joint5_1: body "bodies/arm_joint_5.off" color (0,0,0)
37 gripper_base_1: body "bodies/gripper_base_frame.off" color (0,0,0)
39 left_finger_1: body "bodies/gripper_left_finger.off" color (1,1,1)
41 right_finger_1: body "bodies/gripper_right_finger.off" color (1,1,1)
45 arm_base_2: body "bodies/arm_base_frame.off" color (0,0,0)
47 arm_joint1_2: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
49 arm_joint2_2: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
51 arm_joint3_2: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
53 arm_joint4_2: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
55 arm_joint5_2: body "bodies/arm_joint_5.off" color (0,0,0)
57 gripper_base_2: body "bodies/gripper_base_frame.off" color (0,0,0)
59 left_finger_2: body "bodies/gripper_left_finger.off" color (1,1,1)
61 right_finger_2: body "bodies/gripper_right_finger.off" color (1,1,1)
63 wrench: body "bodies/wrench.off" black
67 % The base moves w.r.t. the world
69 prismatic: world (0,0,0) (1,0,0)
73 prismatic: wb1 (0,0,0) (0,1,0)
77 revolute: wb2 (0,0,0) (0,0,1)
80 fix: base frw Txyz( 0.228,-0.158,-0.034)
81 fix: base flw Txyz( 0.228, 0.158,-0.034)
82 fix: base brw Txyz(-0.228,-0.158,-0.034)
83 fix: base blw Txyz(-0.228, 0.158,-0.034)
87 fix: base arm_base_1 Txyz(0.143,0,0.046)
89 revolute: arm_base_1 (0.024,0,0.115)+(0,0,-1)
90 arm_joint1_1 (0,0,0)+(0,0,1)
91 range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
93 revolute: arm_joint1_1 (0.033,0,0)+(0,-1,0)
94 arm_joint2_1 (0,0,0)+(0,0,1)
95 range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
97 revolute: arm_joint2_1 (0.155,0,0)+(0,0,1)
98 arm_joint3_1 (0,0,0)+(0,0,1)
99 range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
101 revolute: arm_joint3_1 (0,0.135,0)+(0,0,1)
102 arm_joint4_1 (0,0,0)+(0,0,1)
103 range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
105 revolute: arm_joint4_1 (0,0.1136,0)+(0,1,0)
106 arm_joint5_1 (0,0,0)+(0,0,1)
107 range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
109 fix: arm_joint5_1 gripper_base_1 Txyz(0,0,0.05716)*Rz(180*deg2rad)
111 prismatic: gripper_base_1 (0,0.0082,0) +(0,1,0)
112 left_finger_1 (0,0,0) +(0,0,1)
115 prismatic: gripper_base_1 (0,-0.0082,0) +(0,-1,0)
116 right_finger_1 (0,0,0) +(0,0,1)
121 Ty(0.025)*Tz(0.125)*Ry(pi)*Rx(pi/2)*Tx(-0.2)
125 fix: base arm_base_2 Txyz(-0.143,0,0.046)*Rz(180*deg2rad)
127 revolute: arm_base_2 (0.024,0,0.115)+(0,0,-1)
128 arm_joint1_2 (0,0,0)+(0,0,1)
129 range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
131 revolute: arm_joint1_2 (0.033,0,0)+(0,-1,0)
132 arm_joint2_2 (0,0,0)+(0,0,1)
133 range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
135 revolute: arm_joint2_2 (0.155,0,0)+(0,0,1)
136 arm_joint3_2 (0,0,0)+(0,0,1)
137 range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
139 revolute: arm_joint3_2 (0,0.135,0)+(0,0,1)
140 arm_joint4_2 (0,0,0)+(0,0,1)
141 range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
143 revolute: arm_joint4_2 (0,0.1136,0)+(0,1,0)
144 arm_joint5_2 (0,0,0)+(0,0,1)
145 range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
147 fix: arm_joint5_2 gripper_base_2 Txyz(0,0,0.05716)*Rz(180*deg2rad)
149 prismatic: gripper_base_2 (0,0.0082,0) +(0,1,0)
150 left_finger_2 (0,0,0) +(0,0,1)
153 prismatic: gripper_base_2 (0,-0.0082,0) +(0,-1,0)
154 right_finger_2 (0,0,0) +(0,0,1)
void First(Titerator *i) Moves an iterator to the first position of its associated list.
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