BarretArm-SimpleMaze-FixRot.world
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1 
3 [CONSTANTS]
4 
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)
8 
9  theta1:=-Pi/15.4
10  theta2:=Pi/2
11  theta3:=-Pi/2
12  theta4:=Pi/2
13  theta5:=Pi
14  theta6:=Pi/2
15  theta7:=Pi
16 
17  range1:=0
18  range2:=0
19  range3:=0
20  range4:=0
21  range5:=0
22  range6:=0
23  range7:=0
24 
25  % color for the arm (sort of grey)
26  cr:=0.6
27  cg:=0.6
28  cb:=0.6
29 
30 [LINKS]
31 
32  % arm
33 
34  world
35 
36  maze: body "bodies/simpleMaze2.off"
37 
38  arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
39 
40  arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
41 
42  arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
43 
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
46 
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
49 
50  arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
51 
52  arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
53 
54  %rigid arm
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
65  % stick in arm
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
68 
69  dummy1
70  dummy2
71 
72 [JOINTS]
73 
74  fix: world maze Txyz(0.77,-0.14,-0.346)*Rz(Pi/2)
75 
76  fix: world arm0 Txyz(-0.22,-0.14,-0.346)
77 
78  revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
79  arm1 (0,0,0)+(0,0,1)
80  %range [theta1-range1,theta1+range1]
81  % +(1,0,0)
82  % +(1,0,0)
83 
84  revolute: arm1 (0,0,0)+(0,1,0)
85  arm2 (0,0,0)+(0,0,1)
86  %range [theta2-range2,theta2+range2]
87  % +(1,0,0)
88  % +(1,0,0)
89 
90  revolute: arm2 (0,0,0)+(0,1,0)
91  arm3 (0,0,0)+(0,0,-1)
92  %range [theta3-range3,theta3+range3]
93  % +(1,0,0)
94  % +(1,0,0)
95 
96  revolute: arm3 (0.045,0,0.55)+(0,1,0)
97  arm4 (0,0,0)+(0,0,1)
98  %range [theta4-range4,theta4+range4]
99  % +(1,0,0)
100  % +(1,0,0)
101 
102  revolute: arm4 (-0.045,0,0)+(0,1,0)
103  arm5 (0,0,0)+(0,0,-1)
104  %range [theta5-range5,theta5+range5]
105  % +(1,0,0)
106  % +(1,0,0)
107 
108  revolute: arm5 (0,0,0.3)+(0,1,0)
109  arm6 (0,0,0)+(0,0,1)
110  %range [theta6-range6,theta6+range6]
111  % +(1,0,0)
112  % +(1,0,0)
113 
114  revolute: arm6 (0,0,0)+(0,1,0)
115  arm7 (0,0,0)+(0,0,-1)
116  %range [theta7-range7,theta7+range7]
117  % +(1,0,0)
118  % +(1,0,0)
119 
120  prismatic: world (0.43, -0.2886, -0.356)+(1,0,0)
121  dummy1 (0,0,0)+(1,0,0)
122  range [0.12,0.51]
123 
124  prismatic: dummy1 (0,0,0)+(0,1,0)
125  dummy2 (0,0,0)+(0,1,0)
126  range [0.04,0.50]
127 
128  fix: dummy2 arm7 Txyz(-0.17,0,0.350)*Rz(pi/2)*Rx(pi/2)
129 
130  FIX: arm3 arm3_bis Id
131  FIX: arm4 arm4_bis Id
132 
133 
134 [COLLISIONS]
135 
136  Do not check: all
137 
138  Check : arm7,maze
139  Check : arm3_bis, arm4_bis
140  Check : arm3,arm7
141  Check : arm4,arm7
142  Check: arm3, maze
143  Check: arm4, maze
144 
145