BarretArm-Maze-FixRot.world
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1 
3 [CONSTANTS]
4 
5  % color for the arm (sort of grey)
6  cr:=0.6
7  cg:=0.6
8  cb:=0.6
9 
10 [LINKS]
11 
12  world
13 
14  maze: body "bodies/maze2.off"
15 
16  arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
17 
18  arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
19 
20  arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
21 
22  % Use a cylinder for simplified collision detection
23  arm3: body "bodies/barret-arm-3.off" color (cr,cg,cb) decoration
24  cylinder 0.05 (0,0,0.05) (0,0,0.5) hidden
25 
26  % Use a cylinder for simplified collision detection
27  arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb) decoration
28  cylinder 0.05 (-0.045,-0.05,0) (-0.045,-0.29,0) hidden
29 
30  arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
31 
32  arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
33 
34  %rigid hand
35  arm7: body "bodies/barret-fixHand-1.off" color (cr,cg,cb) decoration
36  body "bodies/barret-fixHand-2.off" color (cr,cg,cb) decoration
37  body "bodies/barret-fixHand-3.off" color (cr,cg,cb) decoration
38  body "bodies/barret-fixHand-4.off" color (cr,cg,cb) decoration
39  body "bodies/barret-fixHand-5.off" color (cr,cg,cb) decoration
40  body "bodies/barret-fixHand-6.off" color (cr,cg,cb) decoration
41  body "bodies/barret-fixHand-7.off" color (cr,cg,cb) decoration
42  body "bodies/barret-fixHand-8.off" color (cr,cg,cb) decoration
43  body "bodies/barret-fixHand-9.off" color (cr,cg,cb) decoration
44  body "bodies/barret-fixHand-10.off" color (cr,cg,cb) decoration
45  % stick in arm
46  cylinder 0.005 (0,0.05,0.17) (0,-0.350,0.17)
47  sphere 0.015 (0,0.02,0.17) black decoration
48 
49  dummy1
50  dummy2
51 
52 [JOINTS]
53 
54  fix: world maze Txyz(0.77,-0.14,-0.346)*Rz(Pi/2)
55 
56  fix: world arm0 Txyz(-0.22,-0.14,-0.346)
57 
58  revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
59  arm1 (0,0,0)+(0,0,1)
60 
61  revolute: arm1 (0,0,0)+(0,1,0)
62  arm2 (0,0,0)+(0,0,1)
63 
64  revolute: arm2 (0,0,0)+(0,1,0)
65  arm3 (0,0,0)+(0,0,-1)
66 
67  revolute: arm3 (0.045,0,0.55)+(0,1,0)
68  arm4 (0,0,0)+(0,0,1)
69 
70  revolute: arm4 (-0.045,0,0)+(0,1,0)
71  arm5 (0,0,0)+(0,0,-1)
72 
73  revolute: arm5 (0,0,0.3)+(0,1,0)
74  arm6 (0,0,0)+(0,0,1)
75 
76  revolute: arm6 (0,0,0)+(0,1,0)
77  arm7 (0,0,0)+(0,0,-1)
78 
79  prismatic: world (0.43, -0.2886, -0.356)+(1,0,0)
80  dummy1 (0,0,0)+(1,0,0)
81  range [0,0.44]
82 
83  prismatic: dummy1 (0,0,0)+(0,1,0)
84  dummy2 (0,0,0)+(0,1,0)
85  range [0,0.52]
86 
87  fix: dummy2 arm7 Txyz(-0.17,0,0.350)*Rz(pi/2)*Rx(pi/2)
88 
89 [COLLISIONS]
90 
91  do not check: all
92  check : arm7,maze
93  check : arm3,arm4
94  check : arm3,arm7
95  check : arm4,arm7
96  check : arm3, maze
97  check : arm4, maze
98  check : arm4, arm7
99