Serial6RRX60.world

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% A 6R Serial chain The Staubli-RX60 robot.

[CONSTANTS]

% For puma-like manipulators only 3 of the DH parameters
% are relevant. 
% Here we give those relevant parameters for the RX60 robot (in meters)

a2:=0.29
d3:=0.049
d4:=0.31

% Constants below are only relevant for decoration

%RX60 color (r,g,b)
cr:=0.9
cg:=0.6
cb:=0.2

% For the frame around the robot workspace
barRadius := 0.03

XLower:=-1+barRadius
XUpper:=1-barRadius
YLower:=XLower
YUpper:=XUpper
ZLower:=-0.341
ZUpper :=1

[LINKS]

base :color (0,0,1)
      cylinder barRadius (XLower,YLower,ZLower) (XLower,XLower,ZUpper)  
      sphere   barRadius (XLower,YLower,ZUpper) 
      cylinder barRadius (XLower,YUpper,ZLower) (XLower,YUpper,ZUpper) 
      sphere   barRadius (XLower,YUpper,ZUpper)
      cylinder barRadius (XUpper,YLower,ZLower) (XUpper,YLower,ZUpper)
      sphere   barRadius (XUpper,YLower,ZUpper)
      cylinder barRadius (XUpper,YUpper,ZLower) (XUpper,YUpper,ZUpper)
      sphere   barRadius (XUpper,YUpper,ZUpper) 
      cylinder barRadius (XLower,YLower,ZUpper) (XLower,YUpper,ZUpper) 
      cylinder barRadius (XLower,YLower,ZUpper) (XUpper,YLower,ZUpper) 
      cylinder barRadius (XUpper,YUpper,ZUpper) (XLower,YUpper,ZUpper) 
      cylinder barRadius (XUpper,YUpper,ZUpper) (XUpper,YLower,ZUpper) 
 
      body "bodies/b1.off" color (0.6,0.6,0.6)
     
      body "bodies/plane.off" color (0.2,0.2,0.2)
      body "bodies/S0_rel.off" color (cr,cg,cb)

link1: color (cr,cg,cb)
       body "bodies/S1_rel.off" 
       body "bodies/S2_rel.off"  
      
link2: color (cr,cg,cb)
       body "bodies/S3_rel.off"   
      
link3: color (cr,cg,cb)
       body "bodies/S4_rel.off"   
       
link4: body "bodies/S5_rel.off" color (cr,cg,cb)
       body "bodies/S6_rel.off" color (0.75,0.75,0.75)   

link5: color (0.75,0.75,0.75)  
       body "bodies/S7_rel.off" 
 
EndEfector: color (0.75,0.75,0.75)
            body "bodies/S8_rel.off" 
    
[JOINTS]

revolute: base  (0,0,0) (0, 0,1)
          link1 (0,0,0) (0,-1,0)

revolute: link1 (  0,0,0) (  0,0,1)
          link2 (-a2,0,0) (-a2,0,1) 

revolute: link2 (0,0, 0) (0,0,   1) 
          link3 (0,d3,0) (0,d3+1,0) 

revolute: link3 (0,0, 0) (0, 0,  1)
          link4 (0,d4,0) (0,d4-1,0)
 
revolute: link4 (0,0,0) (0, 0,1)  
          link5 (0,0,0) (0,-1,0)

revolute: link5      (0,0,0) (0,0,1)
          EndEfector (0,0,0) (0,0,1)

fix: base EndEfector Txyz(0.25,0.15,0.5)