BarretArm-Maze.world

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[CONSTANTS]

  % 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

  range1:=0
  range2:=0
  range3:=0
  range4:=0
  range5:=0
  range6:=0
  range7:=0

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

[LINKS]

  % arm

  world

  maze: body  "bodies/hardMaze.off" 

  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) decoration
        cylinder 0.05 (0,0,0.05) (0,0,0.5) red

  arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb) decoration
        cylinder 0.05 (-0.045,-0.05,0) (-0.045,-0.29,0) blue

  arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)

  arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)

  %rigid arm
  arm7: body "bodies/barret-fixHand-1.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-2.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-3.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-4.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-5.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-6.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-7.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-8.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-9.off" color (cr,cg,cb) decoration
        body "bodies/barret-fixHand-10.off" color (cr,cg,cb) decoration
        cylinder 0.05 (0,0,0.05) (0,0,0.15) green decoration
        % stick in arm
        cylinder 0.005 (0,0.02,0.17) (0,-0.350,0.17) 
        sphere 0.015 (0,0.02,0.17) black decoration

[JOINTS]

  fix: world maze Txyz(0.77,-0.14,-0.346)*Rz(Pi/2)

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

  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)

  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)

  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)

  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)

  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)

  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)

  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)

  in_patch: arm7 (0,-0.350,0.17)+(0,-1,0)
            world (0.43, -0.2886, -0.356)
                  (0.87, -0.2886, -0.356)
                  (0.43,  0.2314, -0.356)
                  (0.87,  0.2314, -0.356)

[COLLISIONS]

  Do not check: all
  Check : arm7,maze
  Check : arm7,maze
  Check : arm3,arm4
  Check : arm3,arm7
  Check : arm4,arm7