TwoBarrets.world

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[CONSTANTS]

   size:=0.3

[INCLUDE]
    b1: "BarretArm.world"

[INCLUDE]
    b2: "BarretArm.world"

[LINKS]
    tshirt: cylinder 0.01 (0,0,0)+(size,0,0) blue
            sphere 0.02 (0,0,0) red decoration
            sphere 0.02 (size,0,0) green decoration
    dummy1

[OBSTACLES]
    base: box (-1,-1,-0.346-0.05) (2.5,1,-0.346)

[JOINTS]

    fix: b1::world b2::world Tx(1)*Rz(pi)

    prismatic: b1::world (0.35,0,0)+(0,1,0)
               dummy1 (0,0,0)+(0,1,0)
               range [-0.5,0.5]

    prismatic: dummy1 (0,0,0)+(0,0,1)
               tshirt (0,0,0)+(0,0,1)
               range [-0.3,0.75]

    revolute: b1::arm7 (0,0,0.2)+(0,1,0)
              tshirt (0,0,0)+(0,1,0)

    revolute: b2::arm7 (0,0,0.2)+(0,1,0)
              tshirt (size,0,0)+(0,1,0)

[COLLISIONS]
  check: tshirt,b1::arm1
  check: tshirt,b1::arm2
  check: tshirt,b1::arm3
  check: tshirt,b1::arm4
  check: tshirt,b1::arm5
  check: tshirt,b1::arm6
  check: tshirt,b1::arm7

  check: tshirt,b2::arm1
  check: tshirt,b2::arm2
  check: tshirt,b2::arm3
  check: tshirt,b2::arm4
  check: tshirt,b2::arm5
  check: tshirt,b2::arm6
  check: tshirt,b2::arm7