3R.world
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1 
3 [CONSTANTS]
4 
5 l1:=4
6 l2:=2
7 l3:=1
8 
9 range1_low:=-pi/3
10 range2_low:=-pi/3
11 range3_low:=-pi/3
12 
13 range1_up:=pi/3
14 range2_up:=pi/3
15 range3_up:=pi/3
16 
17 [LINKS]
18 
19  base: sphere 0.1 (0,0,0) red
20 
21  link1: color (0.9,0.9,0.9)
22  cylinder 0.05 (0,0,0) (l1,0,0)
23  sphere 0.1 (l1,0,0) red
24 
25  link2: color (0.1,0.1,0.1)
26  cylinder 0.05 (0,0,0) (l2,0,0)
27  sphere 0.1 (l2,0,0) red
28 
29  link3: color (0.9,0.9,0.9)
30  cylinder 0.05 (0,0,0) (l3,0,0)
31 
32  end_effector: sphere 0.1 (0,0,0) green
33 
34 [JOINTS]
35  revolute: base (0,1,0) (0,-1,0)
36  link1 (0,1,0) (0,-1,0)
37  range [range1_low,range1_up]
38  +(1,0,0) +(1,0,0)
39 
40  revolute: link1 (l1,1,0) (l1,-1,0)
41  link2 (0 ,1,0) (0 ,-1,0)
42  range [range2_low,range2_up]
43  +(1,0,0) +(1,0,0)
44 
45 
46  revolute: link2 (l2,1,0) (l2,-1,0)
47  link3 (0 ,1,0) (0 ,-1,0)
48  range [range3_low,range3_up]
49  +(1,0,0) +(1,0,0)
50 
51  fix: link3 end_effector
52  Tx(l3)
53