-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathjoints.txt
33 lines (32 loc) · 6.08 KB
/
joints.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
(0, 'controller_box_fixed', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'controller_box', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
(1, 'pedestal_feet_fixed', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'pedestal_feet', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
(2, 'pedestal_fixed', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'pedestal', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
(3, 'right_arm_mount', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_arm_base_link', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), -1)
(4, 'right_j0', 0, 7, 6, 1, 0.0, 0.0, -3.0503, 3.0503, 80.0, 1.74, 'right_l0', (0.0, 0.0, 1.0), (0.0006241, 2.8025e-05, 0.014595999999999998), (0.0, 0.0, 0.0, 1.0), 3)
(5, 'head_pan', 0, 8, 7, 1, 0.0, 0.0, -5.0952, 0.9064, 8.0, 1.8, 'head', (0.0, 0.0, 1.0), (-0.024366, -0.010969, 0.15286999999999998), (0.0, 0.0, 0.0, 1.0), 4)
(6, 'display_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'screen', (0.0, 0.0, 0.0), (0.024679299999999998, 2.6549e-05, 0.0029), (-0.5, -0.49999999999755174, -0.5, 0.5000000000024483), 5)
(7, 'head_camera', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'head_camera', (0.0, 0.0, 0.0), (0.017481999999999998, 2.6549e-05, 0.11447199999999999), (0.6184492366426548, -0.6184492366396263, 0.3428126918557932, 0.3428126918574719), 5)
(8, 'right_torso_itb', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_torso_itb', (0.0, 0.0, 0.0), (-0.07936599999999999, -0.010969, 0.07637), (0.0, 0.7071067811848163, 0.0, 0.7071067811882787), 4)
(9, 'right_j1', 0, 9, 8, 1, 0.0, 0.0, -3.8095, 2.2736, 80.0, 1.328, 'right_l1', (0.0, 0.0, 1.0), (0.056634000000000004, 0.039031, 0.09336999999999998), (0.5, -0.5, -0.49999999999755174, 0.5000000000024483), 4)
(10, 'right_j2', 0, 10, 9, 1, 0.0, 0.0, -3.0426, 3.0426, 40.0, 1.957, 'right_l2', (0.0, 0.0, 1.0), (0.0030849, -0.11318900000000001, 0.04997899999999998), (-0.7071067811848163, 0.0, 0.0, 0.7071067811882787), 9)
(11, 'right_j3', 0, 11, 10, 1, 0.0, 0.0, -3.0439, 3.0439, 40.0, 1.957, 'right_l3', (0.0, 0.0, 1.0), (0.00016044, -0.027033, 0.12418000000000001), (0.7071067811848163, 0.0, 0.0, 0.7071067811882787), 10)
(12, 'right_j4', 0, 12, 11, 1, 0.0, 0.0, -2.9761, 2.9761, 9.0, 3.485, 'right_l4', (0.0, 0.0, 1.0), (0.0048135, -0.0969, -0.042345999999999995), (-0.7071067811848163, 0.0, 0.0, 0.7071067811882787), 11)
(13, 'right_arm_itb', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_arm_itb', (0.0, 0.0, 0.0), (-0.0531156, -0.0069001, -0.0591), (0.0, 0.7071067811848163, 0.0, 0.7071067811882787), 12)
(14, 'right_j5', 0, 13, 12, 1, 0.0, 0.0, -2.9761, 2.9761, 9.0, 3.485, 'right_l5', (0.0, 0.0, 1.0), (0.0018844, 0.0240999, 0.14090000000000003), (0.7071067811848163, 0.0, 0.0, 0.7071067811882787), 12)
(15, 'right_hand_camera', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_hand_camera', (0.0, 0.0, 0.0), (0.033438699999999995, -0.009303000000000002, -0.006915999999999992), (0.0, -0.7071067811848163, 0.0, 0.7071067811882787), 14)
(16, 'right_wrist', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_wrist', (0.0, 0.0, 0.0), (-0.0061133, 0.023697, 0.028994000000000006), (-0.7071067811848163, 0.0, 0.0, 0.7071067811882787), 14)
(17, 'right_j6', 0, 14, 13, 1, 0.0, 0.0, -4.7124, 4.7124, 9.0, 4.545, 'right_l6', (0.0, 0.0, 1.0), (-0.0061133, -0.086303, 0.028884000000000007), (0.06162997390208221, -0.7044158901632028, 0.704416342906713, -0.061624798972032144), 14)
(18, 'right_hand', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_hand', (0.0, 0.0, 0.0), (8.0726e-06, -0.0085838, 0.0294566), (0.0, 0.0, -0.7071066656470943, 0.7071068967259818), 17)
(19, 'right_gripper_base_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_gripper_base', (0.0, 0.0, 0.0), (-1e-08, -1e-08, -0.00500001), (0.0, 0.0, 0.0, 1.0), 18)
(20, 'right_connector_plate_base_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_connector_plate_base', (0.0, 0.0, 0.0), (-0.0028, 0.0004, -0.032499999999999994), (0.0, 0.0, 0.0, 1.0), 19)
(21, 'right_connector_plate_mount_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_connector_plate_mount', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0176), (0.0, 0.0, 0.0, 1.0), 20)
(22, 'right_electric_gripper_base_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_electric_gripper_base', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (7.31230107716731e-14, 0.7071067811882787, 0.7071067811848163, 7.312301077203115e-14), 21)
(23, 'right_gripper_l_finger_joint', 1, 15, 14, 1, 100.0, 500.0, 0.0, 0.020833, 20.0, 5.0, 'right_gripper_l_finger', (2.0682310711021444e-13, -1.0, 0.0), (-0.0029999999999905853, 0.045519999999993274, -0.0015000000002228899), (-0.7071067811882787, -3.5806712032343814e-25, -1.4624602154370425e-13, -0.7071067811848163), 22)
(24, 'right_gripper_l_finger_tip_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_gripper_l_finger_tip', (0.0, 0.0, 0.0), (3.567698597651199e-15, -0.01725, 0.075), (0.0, 0.0, 2.0682310711021444e-13, -1.0), 23)
(25, 'right_gripper_r_finger_joint', 1, 16, 15, 1, 100.0, 500.0, -0.020833, 0.0, 20.0, 5.0, 'right_gripper_r_finger', (0.0, 1.0, 0.0), (-0.0029999999999905853, 0.045520000000007964, 0.0014999999997771102), (7.31230107716731e-14, 0.7071067811882787, 0.7071067811848163, -7.312301077203115e-14), 22)
(26, 'right_gripper_r_finger_tip_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_gripper_r_finger_tip', (0.0, 0.0, 0.0), (0.0, -0.01725, 0.075), (0.0, 0.0, 0.0, 1.0), 25)
(27, 'right_gripper_tip_joint', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_gripper_tip', (0.0, 0.0, 0.0), (-0.0028, 0.0004, 0.10632), (0.0, 0.0, 0.0, 1.0), 19)
(28, 'right_j4_2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_l4_2', (0.0, 0.0, 0.0), (0.0018844, -0.0069001, -0.1341), (0.0, 0.0, 0.0, 1.0), 12)
(29, 'right_j2_2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_l2_2', (0.0, 0.0, 0.0), (0.00016044, 0.014967, -0.13582), (0.0, 0.0, 0.0, 1.0), 10)
(30, 'right_j1_2', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'right_l1_2', (0.0, 0.0, 0.0), (0.0030849, 0.026811, -0.092521), (0.0, 0.0, 0.0, 1.0), 9)
(31, 'torso_t0', 4, -1, -1, 0, 0.0, 0.0, 0.0, -1.0, 0.0, 0.0, 'torso', (0.0, 0.0, 0.0), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), -1)