BarretArm.world
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1 
4 [CONSTANTS]
5 
6  range1_l:=-2.6
7  range2_l:=-2
8  range3_l:=-2.8
9  range4_l:=-0.9
10  range5_l:=-4.8
11  range6_l:=-1.6
12  range7_l:=-2.2
13 
14  range1_u:= 2.6
15  range2_u:= 2
16  range3_u:= 2.8
17  range4_u:= 2.8
18  range5_u:= 1.3
19  range6_u:= 1.6
20  range7_u:= 2.2
21 
22 
23  % color for the arm (sort of grey)
24  cr:=0.6
25  cg:=0.6
26  cb:=0.6
27 
28 [LINKS]
29 
30  % arm
31 
32  world
33 
34  arm0: body "bodies/barret-arm-0.off" color (cr,cg,cb)
35  arm1: body "bodies/barret-arm-1.off" color (cr,cg,cb)
36  arm2: body "bodies/barret-arm-2.off" color (cr,cg,cb)
37  arm3: body "bodies/barret-arm-3.off" color (cr,cg,cb)
38  arm4: body "bodies/barret-arm-4.off" color (cr,cg,cb)
39  arm5: body "bodies/barret-arm-5.off" color (cr,cg,cb)
40  arm6: body "bodies/barret-arm-6.off" color (cr,cg,cb)
41  arm7: body "bodies/barret-arm-7.off" color (cr,cg,cb)
42 
43 [JOINTS]
44 
45  % j0
46  fix: world arm0 Txyz(-0.22,-0.14,-0.346)
47 
48  % j1
49  revolute: arm0 (0.22,0.14,0.346)+(0,0,1)
50  arm1 (0,0,0)+(0,0,1)
51  range [range1_l,range1_u]
52  +(1,0,0)
53  +(1,0,0)
54 
55  % j2
56  revolute: arm1 (0,0,0)+(0,1,0)
57  arm2 (0,0,0)+(0,0,1)
58  range [range2_l,range2_u]
59  +(1,0,0)
60  +(1,0,0)
61 
62  % j3
63  revolute: arm2 (0,0,0)+(0,1,0)
64  arm3 (0,0,0)+(0,0,-1)
65  range [range3_l,range3_u]
66  +(1,0,0)
67  +(1,0,0)
68 
69  % j4
70  revolute: arm3 (0.045,0,0.55)+(0,1,0)
71  arm4 (0,0,0)+(0,0,1)
72  range [range4_l,range4_u]
73  +(1,0,0)
74  +(1,0,0)
75 
76  % j5
77  revolute: arm4 (-0.045,0,0)+(0,1,0)
78  arm5 (0,0,0)+(0,0,-1)
79  range [range5_l,range5_u]
80  +(1,0,0)
81  +(1,0,0)
82 
83  % j6
84  revolute: arm5 (0,0,0.3)+(0,1,0)
85  arm6 (0,0,0)+(0,0,1)
86  range [range6_l,range6_u]
87  +(1,0,0)
88  +(1,0,0)
89 
90  % j7
91  revolute: arm6 (0,0,0)+(0,1,0)
92  arm7 (0,0,0)+(0,0,-1)
93  range [range7_l,range7_u]
94  +(1,0,0)
95  +(1,0,0)
96 
97 
98