youBot2.world
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1 
3 [CONSTANTS]
4 
5 deg2rad:=pi/180
6 
7 [LINKS]
8 
9 world : body "bodies/plane.off" yellow % color(0.9,0.9,0.9)
10 
11 wb1
12 wb2
13 
14 % The base
15 
16 base: body "bodies/base_frame.off" color (0,0,0)
17 
18 frw : body "bodies/front-right_wheel.off" color (0.619,0.346,0.035)
19 flw : body "bodies/front-left_wheel.off" color (0.619,0.346,0.035)
20 brw : body "bodies/back-right_wheel.off" color (0.619,0.346,0.035)
21 blw : body "bodies/back-left_wheel.off" color (0.619,0.346,0.035)
22 
23 %first arm
24 
25 arm_base_1: body "bodies/arm_base_frame.off" color (0,0,0)
26 
27 arm_joint1_1: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
28 
29 arm_joint2_1: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
30 
31 arm_joint3_1: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
32 
33 arm_joint4_1: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
34 
35 arm_joint5_1: body "bodies/arm_joint_5.off" color (0,0,0)
36 
37 gripper_base_1: body "bodies/gripper_base_frame.off" color (0,0,0)
38 
39 left_finger_1: body "bodies/gripper_left_finger.off" color (1,1,1)
40 
41 right_finger_1: body "bodies/gripper_right_finger.off" color (1,1,1)
42 
43 % Second arm
44 
45 arm_base_2: body "bodies/arm_base_frame.off" color (0,0,0)
46 
47 arm_joint1_2: body "bodies/arm_joint_1.off" color (0.619,0.346,0.035)
48 
49 arm_joint2_2: body "bodies/arm_joint_2.off" color (0.619,0.346,0.035)
50 
51 arm_joint3_2: body "bodies/arm_joint_3.off" color (0.619,0.346,0.035)
52 
53 arm_joint4_2: body "bodies/arm_joint_4.off" color (0.619,0.346,0.035)
54 
55 arm_joint5_2: body "bodies/arm_joint_5.off" color (0,0,0)
56 
57 gripper_base_2: body "bodies/gripper_base_frame.off" color (0,0,0)
58 
59 left_finger_2: body "bodies/gripper_left_finger.off" color (1,1,1)
60 
61 right_finger_2: body "bodies/gripper_right_finger.off" color (1,1,1)
62 
63 wrench: body "bodies/wrench.off" black
64 
65 [JOINTS]
66 
67 % The base moves w.r.t. the world
68 
69 prismatic: world (0,0,0) (1,0,0)
70  wb1 (0,0,0) (1,0,0)
71  range [-1,1]
72 
73 prismatic: wb1 (0,0,0) (0,1,0)
74  wb2 (0,0,0) (0,1,0)
75  range [-1,1]
76 
77 revolute: wb2 (0,0,0) (0,0,1)
78  base (0,0,0) (0,0,1)
79 
80 fix: base frw Txyz( 0.228,-0.158,-0.034)
81 fix: base flw Txyz( 0.228, 0.158,-0.034)
82 fix: base brw Txyz(-0.228,-0.158,-0.034)
83 fix: base blw Txyz(-0.228, 0.158,-0.034)
84 
85 % First arm
86 
87 fix: base arm_base_1 Txyz(0.143,0,0.046)
88 
89 revolute: arm_base_1 (0.024,0,0.115)+(0,0,-1)
90  arm_joint1_1 (0,0,0)+(0,0,1)
91  range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
92 
93 revolute: arm_joint1_1 (0.033,0,0)+(0,-1,0)
94  arm_joint2_1 (0,0,0)+(0,0,1)
95  range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
96 
97 revolute: arm_joint2_1 (0.155,0,0)+(0,0,1)
98  arm_joint3_1 (0,0,0)+(0,0,1)
99  range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
100 
101 revolute: arm_joint3_1 (0,0.135,0)+(0,0,1)
102  arm_joint4_1 (0,0,0)+(0,0,1)
103  range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
104 
105 revolute: arm_joint4_1 (0,0.1136,0)+(0,1,0)
106  arm_joint5_1 (0,0,0)+(0,0,1)
107  range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
108 
109 fix: arm_joint5_1 gripper_base_1 Txyz(0,0,0.05716)*Rz(180*deg2rad)
110 
111 prismatic: gripper_base_1 (0,0.0082,0) +(0,1,0)
112  left_finger_1 (0,0,0) +(0,0,1)
113  range [0,0.0125]
114 
115 prismatic: gripper_base_1 (0,-0.0082,0) +(0,-1,0)
116  right_finger_1 (0,0,0) +(0,0,1)
117  range [0,0.0125]
118 
119 fix: gripper_base_1
120  wrench
121  Ty(0.025)*Tz(0.125)*Ry(pi)*Rx(pi/2)*Tx(-0.2)
122 
123 % Second arm
124 
125 fix: base arm_base_2 Txyz(-0.143,0,0.046)*Rz(180*deg2rad)
126 
127 revolute: arm_base_2 (0.024,0,0.115)+(0,0,-1)
128  arm_joint1_2 (0,0,0)+(0,0,1)
129  range [-169*deg2rad,169*deg2rad] +(1,0,0) +(1,0,0)
130 
131 revolute: arm_joint1_2 (0.033,0,0)+(0,-1,0)
132  arm_joint2_2 (0,0,0)+(0,0,1)
133  range [-65*deg2rad,90*deg2rad] +(1,0,0) +(0,1,0)
134 
135 revolute: arm_joint2_2 (0.155,0,0)+(0,0,1)
136  arm_joint3_2 (0,0,0)+(0,0,1)
137  range [-151*deg2rad,146*deg2rad] +(1,0,0) +(0,1,0)
138 
139 revolute: arm_joint3_2 (0,0.135,0)+(0,0,1)
140  arm_joint4_2 (0,0,0)+(0,0,1)
141  range [-102.5*deg2rad,102.5*deg2rad] +(1,0,0) +(1,0,0)
142 
143 revolute: arm_joint4_2 (0,0.1136,0)+(0,1,0)
144  arm_joint5_2 (0,0,0)+(0,0,1)
145  range [-165*deg2rad,165*deg2rad] +(1,0,0) +(1,0,0)
146 
147 fix: arm_joint5_2 gripper_base_2 Txyz(0,0,0.05716)*Rz(180*deg2rad)
148 
149 prismatic: gripper_base_2 (0,0.0082,0) +(0,1,0)
150  left_finger_2 (0,0,0) +(0,0,1)
151  range [0,0.0125]
152 
153 prismatic: gripper_base_2 (0,-0.0082,0) +(0,-1,0)
154  right_finger_2 (0,0,0) +(0,0,1)
155  range [0,0.0125]
156 
157 
158 
void First(Titerator *i)
Moves an iterator to the first position of its associated list.
Definition: list.c:356