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5 % color for the arm (sort of grey)
14 maze: body "bodies/maze2.off"
16 arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
18 arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
20 arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
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
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
30 arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
32 arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
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
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
54 fix: world maze Txyz(0.77,-0.14,-0.346)*Rz(Pi/2)
56 fix: world arm0 Txyz(-0.22,-0.14,-0.346)
58 revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
61 revolute: arm1 (0,0,0)+(0,1,0)
64 revolute: arm2 (0,0,0)+(0,1,0)
67 revolute: arm3 (0.045,0,0.55)+(0,1,0)
70 revolute: arm4 (-0.045,0,0)+(0,1,0)
73 revolute: arm5 (0,0,0.3)+(0,1,0)
76 revolute: arm6 (0,0,0)+(0,1,0)
79 prismatic: world (0.43, -0.2886, -0.356)+(1,0,0)
80 dummy1 (0,0,0)+(1,0,0)
83 prismatic: dummy1 (0,0,0)+(0,1,0)
84 dummy2 (0,0,0)+(0,1,0)
87 fix: dummy2 arm7 Txyz(-0.17,0,0.350)*Rz(pi/2)*Rx(pi/2)
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