| UP-AXIS {X, Y or Z} |
The axis which will be set as "up" in
the simulation viewport. |
| ROTATION |
A rotation angle around the "up" axis,
for initial presentation of robot in simulation viewport. |
| ZOOM |
The initial viewport zoom factor. |
| INVKIN |
The name of the inverse kinematics class
for the robot. |
| SRC {file} |
Provides the location of the physical
model file (in REMOTE directory) for the joint. |
| MODELPARSER {modelparser} |
Specifies which parser should be used
to read the model file. |
| LENGTH {link length} |
Provides the link length. |
| DOF {number of degrees} |
Specifies the number of degrees of freedom
in the current joint. |
| NAME {name} |
Specifies a name for the current degree
of freedom. |
| TYPE {REVOLUTE, PRISMATIC, or INANIMATE} |
Specifies if the current degree of freedom
as revolute, prismatic, or inanimate. |
| OFFSET {link offset} |
Specifies the integer link offset. |
| TWIST {link twist} |
Specifies the integer link twist (in degrees). |
| MIN {minimum} |
Specifies the minimum value for the degree
of freedom. |
| MAX {maximum} |
Specifies the maximum value for the degree
of freedom. |
| HOME {home} |
Specifies the home value for the degree
of freedom. |
| DOF-END |
End of the degree of freedom definition. |
| JOINT-END |
End of the joint definition. |
| END |
End of the robot definition. |