BarretArm.world

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[CONSTANTS]

  d1:=0.55
  a1:=0.045

  d2:= 0.3

  % to facilitate fixing the arm configuration we
  % define its position as an angle plus a range
  % (the range is set to zero to fix the angle)

  theta1:=-Pi/15.4
  theta2:=Pi/2
  theta3:=-Pi/2
  theta4:=Pi/2
  theta5:=Pi
  theta6:=Pi/2
  theta7:=Pi

  theta8:=0
  theta9:=0
  theta10:=0
  theta11:=0
  theta12:=0

  range1:=pi/2
  range2:=pi/2
  range3:=pi/2
  range4:=pi/2
  range5:=pi/2
  range6:=pi/2
  range7:=pi/2

  range8:=pi/2
  range9:=pi/2
  range10:=pi/2
  range11:=pi/2
  range12:=pi/2

  % color for the arm (sort of grey)
  cr:=0.6
  cg:=0.6
  cb:=0.6

[LINKS]

  % arm

  world

  arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
  arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
  arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
  arm3: body "bodies/barret-arm-3.off" color (cr,cg,cb)
  arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb)
  arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
  arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
  arm7: body "bodies/barret-arm-7.off" color (cr,cg,cb)
      body "bodies/barret-arm-7-b.off" color (cr,cg,cb)


  % hand

  hand21: body "bodies/barret-arm-8.off" color (cr,cg,cb)
  hand22: body "bodies/barret-arm-9.off" color (cr,cg,cb)


  hand00: body "bodies/barret-arm-10.off" color (cr,cg,cb)
  hand01: body "bodies/barret-arm-8.off" color (cr,cg,cb)
  hand02: body "bodies/barret-arm-9.off" color (cr,cg,cb)


  hand10: body "bodies/barret-arm-10.off" color (cr,cg,cb)
  hand11: body "bodies/barret-arm-8.off" color (cr,cg,cb)
  hand12: body "bodies/barret-arm-9.off" color (cr,cg,cb)

[JOINTS]

  % j0 
  fix: world arm0 Txyz(-0.22,-0.14,-0.346)

  % j1
  revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
            arm1 (0,0,0)+(0,0,1)
            range [theta1-range1,theta1+range1]
                  +(1,0,0)
                  +(1,0,0)

  % j2
  revolute: arm1 (0,0,0)+(0,1,0)
            arm2 (0,0,0)+(0,0,1)
            range [theta2-range2,theta2+range2]
                  +(1,0,0)
                  +(1,0,0)

  % j3
  revolute: arm2 (0,0,0)+(0,1,0)
            arm3 (0,0,0)+(0,0,-1)
            range [theta3-range3,theta3+range3]
                  +(1,0,0)
                  +(1,0,0)

  % j4
  revolute: arm3 (0.045,0,0.55)+(0,1,0)
            arm4 (0,0,0)+(0,0,1)
            range [theta4-range4,theta4+range4]
                  +(1,0,0)
                  +(1,0,0)

  % j5
  revolute: arm4 (-0.045,0,0)+(0,1,0)
            arm5 (0,0,0)+(0,0,-1)
            range [theta5-range5,theta5+range5]
                  +(1,0,0)
                  +(1,0,0)

  % j6
  revolute: arm5 (0,0,0.3)+(0,1,0)
            arm6 (0,0,0)+(0,0,1)
            range [theta6-range6,theta6+range6]
                  +(1,0,0)
                  +(1,0,0)

  % j7
  revolute: arm6 (0,0,0)+(0,1,0)
            arm7 (0,0,0)+(0,0,-1)
            range [theta7-range7,theta7+range7]
                  +(1,0,0)
                  +(1,0,0)

  revolute: arm7   (-0.05,0,0.1515)+(0,1,0)
            hand21 (0,0,0)+(0,0,1)
            range [theta8-range8,theta8+range8]
                  +(0.707106781186548,0,0.707106781186548)
                  +(1,0,0)          

  revolute: hand21 (0.07,0,0)+(0,0,1)
            hand22 (0,0,0)+(0,0,1)
            range [theta9-range9,theta9+range9]
                  +(0,1,0)
                  +(1,0,0)

  revolute: arm7   (0,-0.025,0.1515)+(0,0,1)
            hand00 (0,0,0)+(0,0,1)
            range [theta10-range10,theta10+range10]
                  +(1,0,0)
                  +(1,0,0)          

  revolute: hand00 (0.05,0,0)+(0,-1,0)
            hand01 (0,0,0)+(0,0,1)
            range [theta11-range11,theta11+range11]
                  +(-0.707106781186548,0,0.707106781186548)
                  +(1,0,0)          
  
  revolute: hand01 (0.07,0,0)+(0,0,1)
            hand02 (0,0,0)+(0,0,1)
            range [theta12-range12,theta12+range12]
                  +(0,1,0)
                  +(1,0,0)

  revolute: arm7   (0,0.025,0.1515)+(0,0,1)
            hand10 (0,0,0)+(0,0,1)
            range [theta10-range10,theta10+range10]
                  +(1,0,0)
                  +(1,0,0)          

  revolute: hand10 (0.05,0,0)+(0,-1,0)
            hand11 (0,0,0)+(0,0,1)
            range [theta11-range11,theta11+range11]
                  +(-0.707106781186548,0,0.707106781186548)
                  +(1,0,0)          

  revolute: hand11 (0.07,0,0)+(0,0,1)
            hand12 (0,0,0)+(0,0,1)
            range [theta12-range12,theta12+range12]
                  +(0,1,0)
                  +(1,0,0)