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5 % to facilitate fixing the arm configuration we
6 % define its position as an angle plus a range
7 % (the range is set to zero to fix the angle)
25 % color for the arm (sort of grey)
36 maze: body "bodies/simpleMaze2.off"
38 arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
40 arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
42 arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
44 arm3: body "bodies/barret-arm-3.off" color (cr,cg,cb)
45 arm3_bis: cylinder 0.05 (0,0,0.05) (0,0,0.5) hidden
47 arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb)
48 arm4_bis: cylinder 0.05 (-0.045,-0.05,0) (-0.045,-0.29,0) hidden
50 arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
52 arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
55 arm7: body "bodies/barret-fixHand-1.off" color (cr,cg,cb) decoration
56 body "bodies/barret-fixHand-2.off" color (cr,cg,cb) decoration
57 body "bodies/barret-fixHand-3.off" color (cr,cg,cb) decoration
58 body "bodies/barret-fixHand-4.off" color (cr,cg,cb) decoration
59 body "bodies/barret-fixHand-5.off" color (cr,cg,cb) decoration
60 body "bodies/barret-fixHand-6.off" color (cr,cg,cb) decoration
61 body "bodies/barret-fixHand-7.off" color (cr,cg,cb) decoration
62 body "bodies/barret-fixHand-8.off" color (cr,cg,cb) decoration
63 body "bodies/barret-fixHand-9.off" color (cr,cg,cb) decoration
64 body "bodies/barret-fixHand-10.off" color (cr,cg,cb) decoration
66 cylinder 0.005 (0,0.05,0.17) (0,-0.350,0.17)
67 sphere 0.015 (0,0.02,0.17) black decoration
74 fix: world maze Txyz(0.77,-0.14,-0.346)*Rz(Pi/2)
76 fix: world arm0 Txyz(-0.22,-0.14,-0.346)
78 revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
80 %range [theta1-range1,theta1+range1]
84 revolute: arm1 (0,0,0)+(0,1,0)
86 %range [theta2-range2,theta2+range2]
90 revolute: arm2 (0,0,0)+(0,1,0)
92 %range [theta3-range3,theta3+range3]
96 revolute: arm3 (0.045,0,0.55)+(0,1,0)
98 %range [theta4-range4,theta4+range4]
102 revolute: arm4 (-0.045,0,0)+(0,1,0)
103 arm5 (0,0,0)+(0,0,-1)
104 %range [theta5-range5,theta5+range5]
108 revolute: arm5 (0,0,0.3)+(0,1,0)
110 %range [theta6-range6,theta6+range6]
114 revolute: arm6 (0,0,0)+(0,1,0)
115 arm7 (0,0,0)+(0,0,-1)
116 %range [theta7-range7,theta7+range7]
120 prismatic: world (0.43, -0.2886, -0.356)+(1,0,0)
121 dummy1 (0,0,0)+(1,0,0)
124 prismatic: dummy1 (0,0,0)+(0,1,0)
125 dummy2 (0,0,0)+(0,1,0)
128 fix: dummy2 arm7 Txyz(-0.17,0,0.350)*Rz(pi/2)*Rx(pi/2)
130 FIX: arm3 arm3_bis Id
131 FIX: arm4 arm4_bis Id
139 Check : arm3_bis, arm4_bis
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